Assistive device with a refreshable haptic feedback interface

ABSTRACT

An assistive device and method to provide non-visual assistance to a user comprises a haptic feedback interface that includes a plurality of haptic elements. The assistive device generates a touch-discernible output layout on the haptic feedback interface using the plurality of haptic elements. The touch-discernible output layout corresponds to a reproduction of a 3D real-world area within a proximity range of the assistive device and includes a set of different haptic indicators to discern movement of a set of moving objects within the proximity range. The assistive device receives a user input via the haptic feedback interface, the user input indicating a specific amount of pressure applied on the set of different haptic indicators by a user of the assistive device. The assistive device further executes different actions based on different amounts of pressures applied by the user.

CROSS-REFERENCE TO RELATED APPLICATIONS/INCORPORATION BY REFERENCE

This patent application makes reference to, claims priority to, claimsthe benefit of, and is a Continuation Application of U.S. patentapplication Ser. No. 17/496,662, filed on Oct. 7, 2021, which is aContinuation-in-part Application of U.S. Pat. No. 11,353,984, granted onMay 18, 2022, which is a Continuation Application of U.S. Pat. No.10,884,544, granted on Jan. 5, 2021, which is a Continuation Applicationof U.S. Pat. No. 10,747,359, granted on Aug. 18, 2020, which is aContinuation Application of U.S. Pat. No. 10,275,083, granted on Apr.30, 2019.

FIELD

Various embodiments of the disclosure relate to assistive technologies.More specifically, various embodiments of the disclosure relate to anassistive device with a refreshable haptic feedback interface and amethod to provide non-visual assistance to a user by the assistivedevice.

BACKGROUND

With the growth of human-machine interaction (HMI) and sensortechnologies, various types of assistive devices have been developed.However, technological developments in HMI are mostly focused onvision-based interaction technology. Humans have five traditionalrecognized senses, sight (ophthalmoception), hearing (audioception),taste (gustaoception), smell (olfacoception or olfacception), and touch(tactioception). The loss of one or more senses generally results inenhancement of one or more of the remaining senses to compensate for thelost sense(s). For people that have loss or impaired sight, existingtechnology are typically focused on Braille-based or other rudimentaryforms of tactile presentation systems. As existing technology aretypically focused on Braille based tactile presentations or otherconventional tactile forms, HMI for people that have loss or impairedsight are usually limited to use of separate input and outputinterfaces, for example, a separate 6-keys or 8-keys Braille input and aseparate rudimentary form of tactile output that are of limitedfunctionality and use. For people that have impaired sight, it may be achallenging task to understand the surrounding world similar to thesighted people using the existing systems. For example, for a person whohas loss or impaired sight, it may not be possible to track the movementof a specific object (such as a child, a pet, or the like) in real wordsimilar to how a sighted person would track the movement using existingsystems. Thus, an advanced assistive device may be required forproviding non-visual assistance to a user for enhanced understanding ofthe surrounding world.

Further limitations and disadvantages of conventional and traditionalapproaches will become apparent to one of skill in the art, throughcomparison of described systems with some aspects of the presentdisclosure, as set forth in the remainder of the present application andwith reference to the drawings.

SUMMARY

An assistive device with a refreshable haptic feedback interface and amethod for providing non-visual assistance to a user by the assistivedevice substantially as shown in, and/or described in connection with,at least one of the figures, as set forth more completely in the claims.

These and other features and advantages of the present disclosure may beappreciated from a review of the following detailed description of thepresent disclosure, along with the accompanying figures in which likereference numerals refer to like parts throughout.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an exemplary environment for providing non-visualassistance to a user by an assistive device for tracking a movableobject, in accordance with an embodiment of the disclosure.

FIG. 2A is a block diagram that illustrates an exemplary assistivedevice for non-visually discerning a 3D real-world area surrounding auser for tracking a movable object, in accordance with an embodiment ofthe disclosure.

FIG. 2B illustrates exemplary protrusions on a haptic feedback interfaceof the assistive device of FIG. 2A for providing non-visual assistanceto a user, in accordance with an embodiment of the disclosure.

FIG. 3 illustrates an exemplary implementation of the exemplaryassistive device of FIG. 2A as a wearable assistive device for providingnon-visual assistance to a user, in accordance with an embodiment of thedisclosure.

FIGS. 4A and 4B, collectively, are diagrams that illustrate an exemplaryscenario for implementation of the assistive device and method forproviding non-visual assistance to a user for tracking a movable object,in accordance with an embodiment of the disclosure.

FIGS. 5A, 5B, 5C, and 5D, collectively, depict a flow chart thatillustrates a method for providing non-visual assistance to a user toperceive surrounding world, in accordance with an embodiment of thedisclosure.

DETAILED DESCRIPTION

The following described implementations may be found in the disclosedassistive device and method for providing non-visual assistance to auser to perceive the surrounding world. Exemplary aspects of thedisclosure may include an assistive device that may include a hapticfeedback interface that includes a plurality of haptic elements. Theassistive device may further include a haptic feedback controllerconfigured to generate a first touch-discernible output layout on thehaptic feedback interface using the plurality of haptic elements. Thefirst touch-discernible output layout may correspond to a firstreproduction of a three-dimensional (3D) real-world area within a firstproximity range of the assistive device. The haptic feedback controllermay be configured to generate a first set of different haptic indicatorsthat are spatially arranged on the haptic feedback interface to discerna first set of moving objects of the 3D real-world area within the firstproximity range. The first touch-discernible output layout includes thefirst set of different haptic indicators. The haptic feedback controllermay be configured to receive a selection of a first haptic indicator ofthe first set of different haptic indicators based on a first user inputvia the haptic feedback interface. The first haptic indicator discerns atarget moving object in the first set of moving objects. The hapticfeedback controller may be further configured to execute a transitionfrom the first touch-discernible output layout to a secondtouch-discernible output layout based on a movement of the target movingobject from the first proximity range to a second proximity range of theassistive device. The second touch-discernible output layout maycorrespond to a second reproduction of the 3D real-world area within thesecond proximity range of the assistive device. The secondtouch-discernible output layout may include a second set of differenthaptic indicators that are spatially arranged on the haptic feedbackinterface to discern movement of a second set of moving objects,including the target moving object, of the 3D real-world area within thesecond proximity range.

In accordance with an embodiment, the selection of the first hapticindicator may correspond to a prompt to track the movement of the targetmoving object in the 3D real-world area. The haptic feedback controllermay be further configured to track the movement of the target movingobject in the 3D real-world area based on the received selection. Thehaptic feedback controller may be configured to output at least one ofan audio feedback by one or more audio output devices provided in theassistive device or one or more haptic mobility signals in combinationwith the first touch-discernible output layout or the secondtouch-discernible output layout based on the tracked movement of thetarget moving object, to provide navigation assistance from a currentposition of a user of the assistive device towards the target movingobject.

In accordance with an embodiment, the assistive device may also includea first circuitry that may be configured to transmit a mobility controlsignal to a communication device of the target moving object based on asecond user input via the haptic feedback interface. A user of theassistive device may control the movement of the target moving object bythe mobility control signal.

In accordance with an embodiment, the haptic feedback controller may beconfigured to differently control a rate-of-change of movement of eachof the first set of different haptic indicators on the haptic feedbackinterface based on a distance of each of the first set of moving objectspresent in the 3D real-world from a user of the assistive device. Theassistive device may also include a second circuitry that may beconfigured to determine a spatial scaling factor for each of the firstset of moving objects present in the 3D real-world based on the distanceof each of the first set of moving objects from the user of theassistive device. The rate-of-change of movement of each of the firstset of different haptic indicators may be controlled in accordance withthe spatial scaling factor determined for a corresponding moving objectof the first set of moving objects.

In accordance with an embodiment, the haptic feedback controller may befurther configured to differently control a rate-of-change of movementof each of the second set of haptic indicators on the haptic feedbackinterface based on a distance of each of the second set of movingobjects present in the 3D real-world from a user of the assistivedevice. The assistive device may also include a second circuitry thatmay be configured to determine a spatial scaling factor for each of thesecond set of moving objects present in the 3D real-world based on thedistance of each of the second set of moving objects from the user ofthe assistive device. The rate-of-change of movement of each of thesecond set of haptic indicators may be controlled in accordance with thespatial scaling factor determined for a corresponding moving object ofthe second set of moving objects.

In accordance with an embodiment, the haptic feedback controller may befurther configured to differently control a size of each of the firstset of different haptic indicators on the haptic feedback interfacebased on a distance of each of the first set of moving objects presentin the 3D real-world from a user of the assistive device. The firsthaptic indicator has a first size in the first touch-discernible outputlayout and a second size in the second touch-discernible output layoutsuch that the first size is different from the second size.

In accordance with an embodiment, the first proximity range may begreater than the second proximity range. In some embodiments, the firstproximity range may be smaller than the second proximity range.

In accordance with an embodiment, the first touch-discernible outputlayout may further include a unique haptic indicator in combination withthe first set of different haptic indicators. The unique hapticindicator may discern a relative position of a user of the assistivedevice with respect to each of the first set of moving objects presentin the 3D real-world area within the first proximity range of theassistive device. The second touch-discernible output layout may furtherinclude the unique haptic indicator in combination with the second setof different haptic indicators. The unique haptic indicator may discerna relative position of the user of the assistive device with respect toeach of the second set of moving objects present in the 3D real-worldarea within the second proximity range of the assistive device.

In accordance with an embodiment, each of the first set of differenthaptic indicators in the first touch-discernible output layout may begenerated as a protrusion of a defined shape-pattern from the hapticfeedback interface. In some embodiments, a series of protrusions may begenerated along a path on the haptic feedback interface to discernmovement of an object of the first set of moving objects within thefirst proximity range by tactioception based on a user touch on thefirst touch-discernible output layout on the haptic feedback interface.

In accordance with an embodiment, the first set of different hapticindicators and the second set of different haptic indicators may begenerated by a touch-discernible modality that includes at least one ofa differential pressure-based modality, a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality, or a combination of differenttouch-discernible modalities.

The assistive device of the proposed disclosure provides non-visualassistance to people that have impaired or lost sight and enables themto understand the surrounding world similar to the sighted people, whoare people that have no impairment or loss of sight. For example, aperson with impaired or lost sight may be able to easily track andfollow the movement of a specific object (such as a child, a pet, or thelike) in real word using the disclosed assistive device.

FIG. 1 illustrates an exemplary environment for providing non-visualassistance to a user by an assistive device for tracking a movableobject, in accordance with an embodiment of the disclosure. Withreference to FIG. 1 , there is shown an exemplary environment 100. Theexemplary environment 100 may include an assistive device 102, aplurality of different types of sensors 104, a server 106, a firstcommunication network 108A, a second communication network 108B, and oneor more users, such as a user 110. The assistive device 102 may includea haptic feedback interface 112. The exemplary environment 100 mayfurther include a target moving object 114, and a communication device116. The assistive device 102 may be communicatively coupled to theplurality of different types of sensors 104 via the first communicationnetwork 108A or the second communication network 108B. The assistivedevice 102 may be communicatively coupled to the server 106 via thesecond communication network 108B. The assistive device 102 may becommunicatively coupled to the communication device 116 via the secondcommunication network 108B.

The assistive device 102 may include suitable logic, circuitry,interface, and/or code, executable by the circuitry, to generate a firsttouch-discernible output layout on the haptic feedback interface 112.The first touch-discernible output layout may correspond to a firstreproduction of a three-dimensional (3D) real-world area within a firstproximity range of the assistive device 102. The first touch-discernibleoutput layout may include a first set of different haptic indicators todiscern a first set of moving objects, including the target movingobject 114, of the 3D real-world area within the first proximity range.The assistive device 102 may be used to track a movement the targetmoving object 114 discerned by a first haptic indicator of the first setof different haptic indicators. The first touch-discernible outputlayout may be transitioned to a second touch-discernible output layoutbased on a movement of the target moving object 114 from the firstproximity range to a second proximity range of the assistive device 102.The 3D real-world area surrounding the user 110 may be an indoor area oran outdoor area. Examples of implementation of the assistive device 102may include, but are not limited to a special-purpose portable assistivedevice, special-purpose hand gloves, special-purpose shoes, or awearable device that may be worn as a wrist band, wrapped around arms,or any part of human body or as a shoe sole.

The plurality of different types of sensors 104 may include suitablelogic, circuitry, and/or interfaces that may be configured to detect oneor more cues of the 3D real-world area surrounding the user 110, andgenerate a corresponding output, such as sensor data. The plurality ofdifferent types of sensors 104 may include wearable sensors that may beworn by the user 110, sensors that may be integrated with the assistivedevice 102, or other personal devices, such as a smartphone, of the user110. Examples of the plurality of different types of sensors 104 mayinclude, but are not limited to, a motion sensor (such as anaccelerometer and a gyroscope), a location sensor (such as a globalpositioning system (GPS) sensor), a direction detecting sensor (such asa compass or magnetometer), an image-capture device (such as astereoscopic camera, 360 degree camera, a wide-angle camera, or otherimage sensors), an atmospheric pressure detection sensor (such as abarometer), a depth sensor, an altitude detection sensor (such asaltimeter), a lux meter, a radio frequency (RF) sensor, an ultrasoundsensor, or an object detection sensor (such as Radar, Light Detectionand Ranging (LIDAR), and an infrared (IR) sensor).

The server 106 may comprise suitable logic, circuitry, interfaces,and/or code, executable by the circuitry, that may be configured tostore satellite imagery, street maps, and 360 degree panoramic views ofstreets of various geographical areas. In some embodiments, the server106 may be configured to communicate a first template map of the 3Dreal-world area for a location of the assistive device 102, based on atemplate map request for the location received from the assistive device102. In accordance with an embodiment, the server 106 may be configuredto store historical usage pattern data of a plurality of differentusers, such as the user 110. Examples of the server 106 may include, butare not limited to, a cloud server, an application server, a databaseserver, a web server, a file server, and/or any combination thereof.

The first communication network 108A may be a medium that may enablecommunication between the assistive device 102 and the plurality ofdifferent types of sensors 104. The first communication network 108A maybe implemented by one or more wired or wireless communicationtechnologies known in the art. The first communication network 108A mayrefer to a short-range or medium-range wireless communication network.Examples of wireless communication networks may include, but are not belimited to, a Wireless-Fidelity (Wi-Fi) based network, a Light-Fidelity(Li-Fi) based network, a wireless personal area network (WPAN) such as aBluetooth network, Internet-of-Things (IoT) network,Machine-Type-Communication (MTC) network, and/or a Wi-Max based network.

The second communication network 108B may be a medium that mayfacilitate communication between the assistive device 102 and the server106, and the communication device 116 and the server 106. The secondcommunication network 108B may be implemented by one or more wirelesscommunication technologies known in the art. Examples of the wirelesscommunication networks may include, but not limited to, the Internet, acloud network, a wireless wide area network (WWAN), a Local Area Network(LAN), a plain old telephone service (POTS), a Metropolitan Area Network(MAN), or a cellular or mobile network, such as Global System for MobileCommunications (GSM), General Packet Radio Service (GPRS), Enhanced DataRates for GSM Evolution (EDGE), 1G, 2G, 3G, 4G Long Term Evolution(LTE), 5G, IEEE 802.11, 802.16, and the like.

The haptic feedback interface 112 may comprise a plurality of hapticelements. In accordance with an embodiment, the haptic feedbackinterface 112 may refer to a haptic output interface configured toprovide at least a touch-discernible output to the user 110. In someembodiments, the haptic feedback interface 112 may refer to a hapticinput/output (I/O) interface configured to receive haptic input as wellas provide haptic output to the user 110 from the same haptic I/Ointerface. It is known that the sense of touch has a much greatersensory resolution than the sense of sight. Hence, the sense of touchcan detect even small changes on a surface that the eye may fail detect.This principle of the sense of touch may be used to guide the design ofthe haptic feedback interface 112.

In accordance with an embodiment, the user 110 may be a person who havelost or impaired the sense of sight. The user 110 may want to learn andunderstand the surrounding world, and track the movement of the targetmoving object 114 in the 3D real-world area. It is known that sightedpeople visualize the surrounding world by detection of edges betweenareas of different wavelengths of light, which is then perceived asdifferent colors by brain. Based on feedback from the visual system,visual part of the brain referred to as visual cortex, processes visualinformation of the surrounding world to enable the sighted people tovisualize the surrounding world. It is also known the loss of one ormore senses, such as the sense of sight, generally results inenhancement of one or more of the remaining senses, such as sense oftouch, hearing, smell, or taste, to compensate for the lost sense(s).The assistive device 102 harnesses the non-visual senses, such as thesense of touch, hearing, or smell, to assist users, such as the user110, who have lost or impaired the sense of sight for enhanced andaccurate understanding of the 3D real-world area surrounding the user110. The assistive device 102 may also be used even by sighted people incertain situations where human vision is of limited use, for example, inareas that are devoid or partially devoid of light, for example, duringnight to augment sense of sight using other human senses, such asaudioception, olfacoception, and tactioception.

The target moving object 114 may be a person, an animal, or inanimateobject that is of interest to the user 110. For example, the targetmoving object 114 may be a child or a pet whose movement the user 110wants to track. In another example, the target moving object 114 may bea vehicle (for example, a wheelchair, a cycle, or the like) whosemovement the user 110 wants to track. The assistive device 102 mayassist the user 110 in tracking the movement of the target moving object114.

The communication device 116 may include suitable logic, circuitry,interface, and/or code, executable by the circuitry, to receive one ormore mobility control signals from the assistive device 102 through thesecond communication network 108B. The movement of the target movingobject 114 may be controlled based on the one or more mobility controlsignals. Examples of the communication device 116 may include, but arenot limited to a smartphone, a mobile phone, a tablet, a phablet, aspecial-purpose portable device, or a wearable device that may be wornas a band, which wrapped around the wrist (a wristband), arms (anarmband), or any part of human body. In some embodiments, thecommunication device 116 may be another assistive device that may befunctionally similar to the assistive device 102.

In operation, the assistive device 102 may be configured to receivesensor data of the 3D real-world area within the first proximity rangeof the assistive device 102 from the plurality of different types ofsensors 104 that are communicatively coupled to the assistive device102. The plurality of different types of sensors 104, for example, mayinclude the location sensor, the motion sensor, the RF sensor, theultrasound sensor, the IR sensor, or other types of object detectionsensor (such as Radar or LIDAR), and an image-capture device. Theimage-capture device may refer to a stereoscopic camera, 360 degreecamera, a night vision camera, a wide-angle camera, or other imagesensors or their combination. Thus, in certain scenarios, where one typeof sensor may not capture accurate information of the 3D real-world areawithin the first proximity range of the assistive device 102, othertypes of sensors may compliment and capture of information of the 3Dreal-world area.

In accordance with an embodiment, the plurality of different types ofsensors 104 may include sensors, for example, rain sensors, altimeter,lux meter, barometer, and the like, that senses environmental conditionsand/or characteristics, such as weather conditions or lightingconditions). Based on the environmental conditions and/orcharacteristics, information of the 3D real-world area acquired from afirst group of sensors of the plurality of different types of sensors104 may be assigned a higher weight value (for example, preferable) thaninformation acquired from a second group of sensors of the plurality ofdifferent types of sensors 104. The classification of sensors in thefirst group of sensors and the second group of sensors may be done basedon defined criteria and the sensed environmental conditions and/orcharacteristics. The defined criteria, for example, may be defined rulesbased on known accuracy of information detected in different environmentconditions from each sensor. For example, in certain weather condition(for example, foggy weather or rainy weather), the information, such asimages captured from the image-capture device may not be useful. In suchscenarios, the sensor data from the RF sensor, LIDAR, ultrasound sensor,or the like, may be provided higher weight value as compared to thesensor data from the image-capture device.

In accordance with an embodiment, the sensor data received from each ofthe plurality of different types of sensors 104 may be in differentformats. The assistive device 102 may be configured to transform thereceived sensor data into a common format to enable a correlation ofinformation received from one sensor to other sensor of each of theplurality of different types of sensors 104. The sensor data fromdifferent input sources (i.e., the plurality of different types ofsensors 104) may be processed concurrently into a common format.

In accordance with an embodiment, the assistive device 102 may beconfigured to generate the first touch-discernible output layout on thehaptic feedback interface 112 using the plurality of haptic elements.The first touch-discernible output layout may correspond to a firstreproduction of the 3D real-world area within the first proximity rangeof the assistive device 102. The assistive device 102 may be furtherconfigured to generate a first set of different haptic indicators thatare spatially arranged on the haptic feedback interface 112 to discern afirst set of moving objects (for example, including the target movingobject 114) of the 3D real-world area within the first proximity range.The first touch-discernible output layout may include the first set ofdifferent haptic indicators. The assistive device 102 may be configuredto receive a selection of a first haptic indicator of the first set ofdifferent haptic indicators based on a first user input provided by theuser 110 via the haptic feedback interface 112. The selected firsthaptic indicator may discern the target moving object 114 whose movementthe user 110 wants to track. The selection of the first haptic indicatormay correspond to a prompt to the assistive device 102 to track themovement of the target moving object 114. The assistive device 102 maybe configured to track the movement of the target moving object 114 inthe 3D real-world area based on the received selection. The assistivedevice 102 may be configured to execute a transition from the firsttouch-discernible output layout to a second touch-discernible outputlayout based on the movement of the target moving object 114 from thefirst proximity range to the second proximity range of the assistivedevice 102. The second touch-discernible output layout may correspond toa second reproduction of the 3D real-world area within the secondproximity range of the assistive device 102. The secondtouch-discernible output layout may include a second set of differenthaptic indicators that are spatially arranged on the haptic feedbackinterface 112 to discern movement of a second set of moving objects,including the target moving object 114, of the 3D real-world area withinthe second proximity range. An example of the transition of the firsttouch-discernible output layout to the second touch-discernible outputlayout is shown and described, for example, in FIG. 4B. In accordancewith an embodiment, the first proximity range may be greater than thesecond proximity range. In some embodiments, the first proximity rangemay be smaller than the second proximity range.

The assistive device 102 may be configured to control a rate-of-changeof movement of each of the first set of different haptic indicators oreach of the second set of different haptic indicators on the hapticfeedback interface 112. The rate-of-change of movement may be controlledbased a distance of each of the first set of moving objects or each ofthe second set of moving objects present in the 3D real-world area fromthe user 110 of the assistive device 102. For example, in cases where asighted user looks very far (e.g., beyond “X” meters) in the 3Dreal-world area, the changes, such as movement of objects, may appearslow as compared to when the sighted user looks nearby (e.g., up to “Y”meters). In cases where the sighted user looks nearby (e.g., Y=30meters), the changes, such as movement of objects, appears to be fast.In other words, the changes, such as movement of objects, may appear tobe slow or fast depending upon a distance of the moving objects from thesighted user. Thus, in the haptic domain, the first set of differenthaptic indicators or the second set of haptic indicators that indicatemoving objects may be controlled in accordance with the distance of eachof the first set of moving objects or each of the second set of movingobjects from the user 110 for realistic discerning of the 3D real-worldarea.

The assistive device 102 may be configured to control a size of each ofthe first set of different haptic indicators or each of the second setof different haptic indicators on the haptic feedback interface 112. Thesize may be controlled based the distance of each of the first set ofmoving objects or each of the second set of moving objects present inthe 3D real-world area from the user 110 of the assistive device 102.For example, in cases where a sighted user looks very far (e.g., beyond“X” meters) in the 3D real-world area, a size of an object, may appearto be small as compared to when the sighted user looks at the sameobject nearby (e.g., up to “Y” meters). In cases where the sighted userlooks nearby (e.g., Y=30 meters), the size of the same object, appearsto be larger. In other words, the size of an object may appear to besmall or large depending upon a distance of the object from the sighteduser. Thus, in haptic domain, a size of each of the first set ofdifferent haptic indicators or each of the second set of hapticindicators that indicate moving objects may be controlled in accordancewith the distance of each of the first set of moving objects or each ofthe second set of moving objects from the user 110 for realisticdiscerning of the 3D real-world area.

In some embodiments, the assistive device 102 may be implemented as oneor more wearable devices that may be worn around at different parts ofthe human body. An exemplary implementation of the assistive device 102as a wearable assistive device is shown, for example, in FIG. 3

FIG. 2A is a block diagram that illustrates an exemplary assistivedevice for non-visually discerning a 3D real-world area surrounding auser for tracking a movable object, in accordance with an embodiment ofthe disclosure. FIG. 2A is explained in conjunction with elements fromFIG. 1 . With reference to FIG. 2A, there is shown the assistive device102. The assistive device 102 may include a processing section 202, asensor section 204, and a user interface section 206. The processingsection 202 may include a first circuitry 208, a second circuitry 210,and a memory 212. The sensor section 204 may include a plurality ofmicrophones 214 and a sensor cluster unit 216. The sensor cluster unit216 may include at least a biometric sensor 216A. The user interfacesection 206 may include the haptic feedback interface 112, a hapticfeedback controller 220, and one or more audio-output devices 224, suchas a first audio-output device 224A and a second audio-output device224B. The haptic feedback interface 112 may include a plurality ofhaptic elements 218. The haptic feedback controller 220 may include ahaptic feedback generator 222.

In accordance with an embodiment, the assistive device 102 may becommunicatively coupled to the plurality of different types of sensors104 through the first communication network 108A and/or the secondcommunication network 108B, by use of the first circuitry 208. Thesecond circuitry 210 may be communicatively coupled to the memory 212,and the various components of the sensor section 204 and the userinterface section 206, via a system bus.

The first circuitry 208 may comprise suitable logic, circuitry,interfaces, and/or code that may be configured to receive sensor data ofthe 3D real-world area within a defined proximity range (such as thefirst proximity range or the second proximity range) of the assistivedevice 102. The sensor data of the 3D real-world area may be receivedfrom the plurality of different types of sensors 104, via the firstcommunication network 108A. In some embodiments, one or more sensors ofthe plurality of different types of sensors 104 may be provided as apart of the sensor cluster unit 216 as integrated sensors. In such acase, the sensor data may be acquired by the system bus for processingby the second circuitry 210. The first circuitry 208 may be furtherconfigured to communicate with external devices, such as the server 106and the communication device 116, via the second communication network108B. The first circuitry 208 may implement known technologies tosupport wireless communication. The first circuitry 208 may include, butare not limited to, a transceiver (e.g., a radio frequency (RF)transceiver), an antenna, one or more amplifiers, a tuner, one or moreoscillators, a digital signal processor, a coder-decoder (CODEC)chipset, a subscriber identity module (SIM) card, and/or a local buffer.

The first circuitry 208 may communicate via wireless communication withnetworks, such as the Internet, an Intranet and/or a wireless network,such as a cellular telephone network, a wireless local area network(WLAN), a personal area network, and/or a metropolitan area network(MAN). The wireless communication may use any of a plurality ofcommunication standards, protocols and technologies, such as GlobalSystem for Mobile Communications (GSM), Enhanced Data GSM Environment(EDGE), wideband code division multiple access (W-CDMA), code divisionmultiple access (CDMA), LTE, time division multiple access (TDMA),Bluetooth, Wireless Fidelity (Wi-Fi) (such as IEEE 802.11a, IEEE802.11b, IEEE 802.11g, IEEE 802.11n, and/or any other IEEE 802.11protocol), voice over Internet Protocol (VoIP), Wi-MAX,Internet-of-Things (IoT) technology, Li-Fi, Machine-Type-Communication(MTC) technology, a protocol for email, instant messaging, and/or ShortMessage Service (SMS).

The second circuitry 210 may refer to a digital signal processor (DSP).The second circuitry 210 may comprise suitable logic, circuitry,interfaces, and/or code that may be configured to generate a 3D digitalmodel of the 3D real-world area within the first proximity range or thesecond proximity range based on the processing of the transformed sensordata in the common format. The generated 3D digital model may then beused to generate the first touch-discernible output layout or the secondtouch-discernible output layout on the haptic feedback interface 112using the plurality of haptic elements 218. The assistive device 102 maybe a programmable device, where the second circuitry 210 may executeinstructions stored in the memory 212. Other implementation examples ofthe second circuitry 210 may include, but are not limited to aspecialized DSP, a Reduced Instruction Set Computing (RISC) processor,an Application-Specific Integrated Circuit (ASIC) processor, a ComplexInstruction Set Computing (CISC) processor, and/or other processors.

The memory 212 may comprise a learning engine. The second circuitry 210may be configured to determine one or more patterns in a plurality ofuser interactions on the haptic feedback interface 112 over a period oftime based on a track of a usage pattern of the assistive device 102 bythe learning engine. The memory 212 may include suitable logic,circuitry, and/or interfaces that may be configured to store a set ofinstructions executable by the second circuitry 210. The memory 212 maybe further configured to temporarily store one or more captured mediastreams, such as one or more videos or images of the 3D real-world areawithin the first proximity range or the second proximity range as imagebuffer for processing by the second circuitry 210. The memory 212 mayalso store usage history, an amount of pressure exerted by the user 110while touching the haptic feedback interface 112 in the plurality ofuser interactions on the haptic feedback interface 112 over a period oftime. The memory 212 may also store input and output preference settingsby the user 110. Examples of implementation of the memory 212 mayinclude, but not limited to, a random access memory (RAM), a dynamicrandom access memory (DRAM), a static random access memory (SRAM), athyristor random access memory (T-RAM), a zero-capacitor random accessmemory (Z-RAM), a read only memory (ROM), a hard disk drive (HDD), asecure digital (SD) card, a flash drive, cache memory, and/or othernon-volatile memory.

The plurality of microphones 214 may comprise suitable circuitry and/orinterfaces to receive an audio input. In accordance with an embodiment,the audio input may be provided by the user 110. The audio input maycorrespond to a voice input to the assistive device 102. In accordancewith an embodiment, the plurality of microphones 214 may be muted ordisabled in accordance with user preferences. The plurality ofmicrophones 214 may include multiple microphones to capture soundemanating from the first proximity range or the second proximity rangeof the user 110 of the assistive device 102. Each microphone of theplurality of microphones 214 may be fitted at different locations of theassistive device 102.

The sensor cluster unit 216 may include a biometric sensor 216A, such asa fingerprint sensor, to decipher the identity of a user, such as theuser 110. In certain scenarios, the assistive device 102 may be used bymultiple users, for example, users of a same family, or group. In such acase, based on user authentication by use of the biometric sensor, adifferent usage profile and user settings may be loaded for differentusers. In some embodiments, the sensor cluster unit 216 may also includea temperature sensor and a pressure sensor to gauge pressure applied bya user, such as the user 110, on the haptic feedback interface 112. Insome embodiments, one or more sensors of the plurality of differenttypes of sensors 104 may be a part of the sensor cluster unit 216. Forexample, the sensor cluster unit 216 may include the location sensor,the image sensor, the RF sensor, the accelerometer, the gyroscope, thecompass, the magnetometer, an integrated image-capture device, the depthsensor, the altimeter, a lux meter, an ultrasound sensor, the IR sensor,or one or more weather sensors.

The haptic feedback interface 112 may comprise the plurality of hapticelements 218. The plurality of haptic elements 218 may refer to an arrayof cylindrical tubes arranged at the surface of the haptic feedbackinterface 112. A person of ordinary skill in the art may understand thatshape of each tube may be variable, such as conical, hexagonal, or otherpolygonal shapes, without departing from the scope of the disclosure. Inaccordance with an embodiment, the plurality of haptic elements 218 maybe arranged as a layer (of array of cylindrical tubes) on the hapticfeedback generator 222 such that a haptic signal may be generated by thehaptic feedback generator 222 through each of the plurality of hapticelements 218. In accordance with an embodiment, one end (e.g. a proximalend) of each tube of the array of cylindrical tubes may be coupled tothe haptic feedback generator 222, and the other end (e.g. a distal end)may be interspersed on the haptic feedback interface 112 such that aplurality of differential touch-discernible cues generated by the hapticfeedback generator 222 in conjunction with the plurality of hapticelements 218 are discernible on the haptic feedback interface 112 by thesense of touch.

The haptic feedback controller 220 may comprise suitable circuitry andinterfaces to control output of a touch-discernible feedback on thehaptic feedback interface 112 by the haptic feedback generator 222. Thehaptic feedback controller 220 may be configured to sense a haptic userinput via the plurality of haptic elements 218 based on a defined amountof pressure detected at one or more haptic elements of the plurality ofhaptic elements 218. The haptic feedback controller 220 includes thehaptic feedback generator 222.

The haptic feedback generator 222 may facilitate generation of thetouch-discernible haptic output layouts on the haptic feedback interface112 under the control of the haptic feedback controller 220. The hapticfeedback generator 222 may include one or more differential pressuregenerating units, differential electric pulse generating units,shape-pattern extension and retraction units, differential temperaturegenerating units, and a level of protrusion setter to control elevationof raised shape patterns, such as spikes through the plurality of hapticelements 218. The haptic feedback generator 222 may be configured togenerate a plurality of different haptic indicators by use of one ormore of the differential pressure generating units, differentialelectric pulse generating units, shape-pattern extension and retractionunits, differential temperature generating units, and the level ofprotrusion setter to control elevation of raised shape pattern.

The one or more audio-output devices 224, such as the first audio-outputdevice 224A and the second audio-output device 224B, may comprisesuitable circuitry and/or interfaces to generate an audio output for theuser 110. In accordance with an embodiment, the audio output may begenerated in-sync with the touch-discernible haptic output layoutgenerated on the haptic feedback interface 112. In accordance with anembodiment, the audio output may be generated in-sync with a hapticinput received on the haptic feedback interface 112 for multi-sensediscern of the touch-discernible output layouts in different proximityrange for enhanced understanding of the surrounding of the user 110. Thehaptic input may be detected by the haptic feedback controller 220 byuse of the pressure sensor of the sensor cluster unit 216. In accordancewith an embodiment, the one or more audio-output devices 224 may bemuted or disabled based on a time-of-day or for a specific location,such as a public library where silence is solicited. Though FIG. 2A isshown to include two audio-input devices, a person of ordinary skill inthe art may understand that the assistive device 102 may include asingle audio-input device, or more than two audio-input devices. Theother speakers may be placed at corners, for example, at extreme leftand right corners of the assistive device 102, to aid in voice-basednavigation of the user 110 as the user 110 moves with the assistivedevice 102 from one location to another location to follow the targetmoving object 114. In some embodiments, one or more audio-input devicesmay be provided or worn at different parts of the body of the user 110for voice-based navigation of the user 110 as the user 110 moves withthe assistive device 102 from one location to another location in the 3Dreal-world area. Such voice-based navigation may be provided incombination to the generated touch-discernible feedback, which may actsynergistically to provide enhanced navigation assistance to the user110 in a real time or near-real time as the user 110 moves in the 3Dreal-world area.

Each of the one or more wearable pads 226 may refer to a suitable padthat acts as a substrate for the assistive device 102. Each of the oneor more wearable pads 226 may be water-resistant pads suitable to beworn on different parts of the human body, such as forearms (FIG. 3 ).In accordance with an embodiment, each of the one or more wearable pads226 may be designed such that the haptic feedback interface 112 may bein contact to the skin of the human body. The pad fasteners 228 refer todetachable fasteners that allow the two terminal portions of each of theone or more wearable pads 226 to detachably affix with each other.Examples of the pad fasteners 228 may include, but are not limited toclips, hook and loop fastener, detachable straps, buttons, and the like.

In accordance with an embodiment, the assistive device 102 may include aplurality of other hardware control buttons (not shown), such as a powerbutton to ON/OFF the assistive device 102, a reset button to reset thegenerated touch-discernible output layouts on the haptic feedbackinterface 112, one or more volume control buttons/wheels to controlaudio output from the first audio-output device 224A and the secondaudio-output device 224B, and a mute button to disable audio output.

In operation, the second circuitry 210 may be configured to detect acurrent location of the assistive device 102, by use of the locationsensor. As the user 110 may be equipped with the assistive device 102,the location of the assistive device 102 may be same as that of the user110. The location sensor may be an integrated sensor of the assistivedevice 102 provided in the sensor cluster unit 216 or may be one of theplurality of different types of sensors 104. The second circuitry 210may be configured to determine whether a first template map of a 3Dreal-world area for the detected current location of the assistivedevice 102, is available. In some embodiments, where the first templatemap of the 3D real-world area is available, the first circuitry 208 maybe configured to acquire the first template map of the 3D real-worldarea within the first proximity range (e.g., the first proximity range402) of the assistive device 102. The first template map may be acquiredfrom the server 106 based on the current location of the assistivedevice 102. In some embodiments, the memory 212 may store 2D/3D maps ofgeographical regions of the earth surface, such as street views. In sucha case, the second circuitry 210 may be configured to retrieve the firsttemplate map of the 3D real-world area from the memory 212. The firsttemplate map may be available for certain outdoor areas, whereas suchmaps may not be available for indoor areas.

In accordance with an embodiment, the first circuitry 208 may beconfigured to receive sensor data of the 3D real-world area within thefirst proximity range of the assistive device 102 from the plurality ofdifferent types of sensors 104 that are communicatively coupled to theassistive device 102. In some embodiments, the sensor data may also bereceived from the sensor cluster unit 216. In some embodiments, thefirst template map of a 3D real-world area may not be acquired, forexample, in case of indoor locations or for regions where the firsttemplate map may not be available. In such a case, the sensor data ofthe 3D real-world area received in real time or near-real time may beused to collect information of the 3D real-world area within the firstproximity range of the assistive device 102.

In accordance with an embodiment, the second circuitry 210 may befurther configured to identify an object-type of each of a firstplurality of different objects present within the first proximity rangeof the assistive device 102 based on the received sensor data. Thesecond circuitry 210 may be configured to determine a relative positionof each of the first plurality of objects with respect to the positionof the user 110 of the assistive device 102. The relative position ofeach of the first plurality of objects may be determined based on thesensor data received in real time or near-real time from the pluralityof different types of sensors 104 worn by the user 110. The secondcircuitry 210 may be configured to determine a height of each of thefirst plurality of objects from the perspective of the height of theuser 110 of the assistive device 102. The second circuitry 210 may befurther configured to update the first template map in real time ornear-real time based on the sensor data of the 3D real-world area.

The second circuitry 210 may be configured to determine the speed andthe direction of travel of each of a first set of moving objects of thefirst plurality of objects within the first proximity range. Inaccordance with an embodiment, the second circuitry 210 may beconfigured to select a first touch-discernible modality from a pluralityof touch-discernible modalities to generate a first plurality ofdifferent haptic indicators on the haptic feedback interface 112. Thefirst plurality of different haptic indicators may be generated todiscern the first plurality of objects within the first proximity range.The selection of the first touch-discernible modality may be based onlearned user interaction information and a current weather condition inthe 3D real-world area for the detected current location of theassistive device 102. The learned user interaction information may bedetermined based on a historical analysis of usage pattern data of thehaptic feedback interface 112 by the learning engine provided in thememory 212. The plurality of touch-discernible modalities includes adifferential pressure-based modality, a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality. In some embodiments, a combinationof different touch-discernible modalities may be selected based on thelearned user interaction information, the current weather condition inthe 3D real-world area, and a specified user-setting.

The differential pressure-based modality refers to generation of thefirst plurality of different haptic indicators as multi-level pressureor different amount of pressure on the haptic feedback interface. Auser, such as the user 110, may feel different amount of pressure atdifferent points (or portions) on the haptic feedback interface 112,which enables the user 110 to discern certain characteristics, forexample, positioning or object-type of the first plurality of objects,of the 3D real world area by touch on the haptic feedback interface 112.Similarly, the differential temperature-based modality refers togeneration of the first plurality of different haptic indicators asdifferent temperatures, for example, different combination of hot andcold temperatures, on the haptic feedback interface 112. The differentlevel of temperature may enable the user 110 to discern, certaincharacteristics, for example, positioning or object-type of the firstplurality of objects, of the 3D real world area by touch on the hapticfeedback interface 112. The differential electric pulse-based modalityrefers to generation of the first plurality of different hapticindicators as different level of electric-pulses on the haptic feedbackinterface 112. The different level of electric-pulses may enable theuser 110 to feel, certain characteristics, for example, positioning orobject-type of the first plurality of objects, of the 3D real world areaby touch on the haptic feedback interface 112. The different level ofelectric-pulses may be felt as different amount of pain or prickingpoints. The differential raised shape pattern-based modality refers togeneration of the first plurality of different haptic indicators as aplurality of protrusions of different shapes that may be extended fromthe surface of the haptic feedback interface 112. Each protrusion may bea raised shape-pattern or a bulge that may stick out from at least oneor a group of haptic elements of the plurality of haptic elements of thehaptic feedback interface 112. The plurality of protrusions mayrepresent the first plurality of objects of the 3D real-world areawithin the first proximity range. An example of the generation of thefirst plurality of different haptic indicators as the plurality ofprotrusions of different shapes, is shown and described, for example, inFIG. 4B.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to generate the first touch-discernible output layout onthe haptic feedback interface 112 using the plurality of haptic elements218 and the haptic feedback generator 222. The first touch-discernibleoutput layout may be generated using the selected firsttouch-discernible modality from the plurality of touch-discerniblemodalities. The first touch-discernible output layout may correspond toa first reproduction of the 3D real-world area within the firstproximity range of the assistive device 102. The first touch-discernibleoutput layout may be generated using a modified 3D digital model of the3D real-world area. The modified 3D digital model of the 3D real-worldarea by the second circuitry 210 based on the received sensor data. Themodified 3D digital model may be generated by removal of one or moreirrelevant objects in the 3D real-world area within the first proximityrange. The relevancy and irrelevancy of each object in the firstplurality of objects may be estimated with respect to the detectedcurrent position of the assistive device 102, and the relativepositioning of each object of the first plurality of objects from aground level at which the user 110 is located. For example, a fly-overin the 3D real-world area may not be relevant or useful while the user110 may move below the fly-over at the ground level. Removal ofirrelevant objects detected in the 3D real-world area within the firstproximity range for the generation of the modified 3D digital model, maysignificantly save the processing time and battery power consumption forthe generation of the first touch-discernible output layout.

The generated first plurality of different haptic indicators may includea first set of different haptic indicators generated to discern movementof the first set of moving objects within the first proximity range. Inother words, the first touch-discernible output layout may include thefirst set of different haptic indicators to discern the movement of thefirst set of moving objects within the first proximity range. The firstplurality of different haptic indicators, including the first set ofdifferent haptic indicators, may be spatially arranged on the hapticfeedback interface 112 in a defined region such that a spatialarrangement of the first plurality of objects in the 3D real-world areawithin the first proximity range of the assistive device 102 isdiscernible by tactioception based on a user touch on the firsttouch-discernible output layout. The first touch-discernible outputlayout may also include a unique haptic indicator that corresponds to aposition of the user 110 of the assistive device 102. The unique hapticindicator may be one of the first plurality of different hapticindicators generated on the haptic feedback interface 112. The uniquehaptic indicator may be indicative of a relative position of the user110 with respect to each of the first plurality of objects present inthe 3D real-world area within the first proximity range of the assistivedevice 102. It may be advantageous to include the unique hapticindicator that is representative of the user 110 as it enables the user110 to non-visually discern the 3D real-world area from the perspectiveof the user 110 in the first proximity range by a touch on the uniquehaptic indicator followed by touch on other haptic indicators of thefirst plurality of different haptic indicators generated on the hapticfeedback interface 112.

As the sensor data is received from different input sources (e.g., theplurality of different types of sensors 104), the computation of therelative position of each of the first plurality of objects with respectto the position of the user 110 of the assistive device 102, may befaster and more accurate as compared to sensor data received exclusivelyfrom one type of sensor, such as the image-capture device or indifferent environmental or weather conditions, for example, rain,hailstorm, during night, and the like. Although, an approximate distanceof different objects in an image frame may be estimated by imageprocessing, the distance or position of objects calculated from RFsensor or the LIDAR, may be faster and more accurate as compared to theimage-processing methods. This helps to quickly and accurately generatethe first touch-discernible output layout based on the generated commonformat of sensor data received from the plurality of different types ofsensors 104.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to receive a selection of a first haptic indicator of thefirst set of different haptic indicators based on a first user input(e.g., a haptic input) via the haptic feedback interface 112. The firsthaptic indicator may discern the target moving object 114 of the firstset of moving objects. The selection of the first haptic indicator maycorrespond to a prompt to track the movement of the target moving object114 in the 3D real-world area.

The haptic feedback controller 220 may be configured to track themovement of the target moving object 114 in the 3D real-world area basedon the received selection. While tracking the movement of the targetmoving object 114 using the sensor data generated by one or more of theplurality of different types of sensors 104, the haptic feedbackcontroller 220 may detect that the target moving object 114 has movedfrom the first proximity range to the second proximity range. In such ascenario, the second circuitry 210 may be configured to calibrate one ormore of the plurality of different types of sensors 104 to receivesensor data in accordance with the second proximity range. The secondcircuitry 210 may be configured to determine the speed and the directionof travel of each of a second set of moving objects, including thetarget moving object 114, of a second plurality of objects within thesecond proximity range. The second circuitry 210 may be furtherconfigured to monitor/track the relative position of each of the secondplurality of objects with respect to the position of the user 110 of theassistive device 102. The relative position of each of the secondplurality of objects may be monitored based on the sensor data of thesecond proximity range received in real time or near-real time from theplurality of different types of sensors 104.

The haptic feedback controller 220 may be configured to execute atransition from the first touch-discernible output layout to the secondtouch-discernible output layout based on the movement of the targetmoving object 114 from the first proximity range to the second proximityrange. The second touch-discernible output layout may correspond to asecond reproduction of the 3D real-world area covering the secondproximity range. The second touch-discernible output layout may be asecond 3D layout that comprises a second plurality of different hapticindicators. The second plurality of different haptic indicators may bespatially arranged on the haptic feedback interface 112 in the definedregion such that a spatial arrangement of the second plurality ofobjects in the 3D real-world area within the second proximity range maybe discernible by tactioception based on a user touch on the secondtouch-discernible output layout. The second plurality of differenthaptic indicators may include one or more haptic indicators of the firstset of different haptic indicators such as the first haptic indicatorand/or a second set of different haptic indicators to discern movementof a second set of moving objects. The second set of moving objects mayinclude one of more objects from the first set of moving objects and/ornew objects detected within the second proximity range.

The second touch-discernible output layout may also include the uniquehaptic indicator that corresponds to a current position of the user 110of the assistive device 102 on the second touch-discernible outputlayout. The unique haptic indicator of the second plurality of differenthaptic indicators generated on the haptic feedback interface 112 may beindicative of a relative (or updated) position of the user 110 withrespect to each of the second plurality of objects present in the 3Dreal-world area within the second proximity range of the assistivedevice 102.

In accordance with an embodiment, the second circuitry 210 may beconfigured to estimate a spatial scaling factor for each of the firstset of moving objects present in the 3D real-world based on the distanceof each of the first set of moving objects from the user 110 of theassistive device 102. The haptic feedback controller 220 may beconfigured to control a rate-of-change of movement of each of the firstset of different haptic indicators on the haptic feedback interface 112.The rate-of-change of movement of each of the first set of differenthaptic indicators may be controlled in accordance with the spatialscaling factor determined for the corresponding moving object of thefirst set of moving objects. For example, the rate-of-change of movementof the first haptic indicator may be controlled in accordance with thespatial scaling factor determined for the target moving object 114. Inother words, the haptic feedback controller 220 may be furtherconfigured to differently control the rate-of-change of movement of eachof the first set of different haptic indicators on the haptic feedbackinterface 112 based on the distance of each of the first set of movingobjects present in the 3D real-world from the user 110 of the assistivedevice 102.

The haptic feedback controller 220 may be further configured todifferently control a size of each of the first set of different hapticindicators on the haptic feedback interface 112 in accordance with thespatial scaling factor determined for the corresponding moving object ofthe first set of moving objects. For example, the size of the firsthaptic indicator may be controlled in accordance with the spatialscaling factor determined for the target moving object 114. In otherwords, the haptic feedback controller 220 may be further configured todifferently control the size of each of the first set of differenthaptic indicators on the haptic feedback interface 112 based on thedistance of each of the first set of moving objects present in the 3Dreal-world from the user 110 of the assistive device 102.

Similarly, the second circuitry 210 may be configured to estimate aspatial scaling factor for each of the second set of moving objectspresent in the 3D real-world based on the distance of each of the secondset of moving objects from the user 110 of the assistive device 102. Thehaptic feedback controller 220 may be configured to control arate-of-change of movement of each of the second set of different hapticindicators on the haptic feedback interface 112. The rate-of-change ofmovement of each of the second set of different haptic indicators may becontrolled in accordance with the spatial scaling factor determined forthe corresponding moving object of the second set of moving objects. Inother words, the haptic feedback controller 220 may be furtherconfigured to differently control the rate-of-change of movement of eachof the second set of different haptic indicators on the haptic feedbackinterface 112 based on the distance of each of the second set of movingobjects present in the 3D real-world from the user 110 of the assistivedevice 102.

The haptic feedback controller 220 may be further configured todifferently control a size of each of the second set of different hapticindicators on the haptic feedback interface 112 in accordance with thespatial scaling factor determined for the corresponding moving object ofthe second set of moving objects. In other words, the haptic feedbackcontroller 220 may be further configured to differently control the sizeof each of the second set of different haptic indicators on the hapticfeedback interface 112 based on the distance of each of the second setof moving objects present in the 3D real-world from the user 110 of theassistive device 102. Therefore, the first haptic indicator may have afirst size when included on the first touch-discernible output layoutand a second size when included on the second touch-discernible outputlayout. The first size may be different from the second size.

In accordance with an embodiment, the assistive device 102 may beconfigured to receive a second user input provided by the user 110 viathe haptic feedback interface 112. The second user input may be providedby the user 110 to control the movement of the target moving object 114.In an example, the second user input may be accompanied by an audioinput provided by the user 110 using the plurality of microphones 214.The second user input may correspond to a command provided by the user110 to control the movement of the target moving object 114. In anexample, the second user input may be provided to stop the movement ofthe target moving object 114. In another example, the second user inputmay be provided to control a speed (e.g., increase or reduce) ofmovement of the target moving object 114. In another example, the seconduser input may be provided to control a direction of movement of thetarget moving object 114. Based on the second user input, the firstcircuitry 208 may be configured to generate and transmit a mobilitycontrol signal to the communication device 116 of the target movingobject 114 through the second communication network 108B. Upon receivingthe mobility control signal, the target moving object 114 may controlcorresponding movement in accordance with the mobility control signal.For example, when the second user input is an indication to stop themovement, the target moving object 114 may stop moving based on themobility control signal received on the communication device 116.

In accordance with an embodiment, the haptic feedback generator 222 maybe configured to continuously or periodically update the firsttouch-discernible output layout and/or the second touch-discernibleoutput layout to reflect change in positioning of the moving objects.

In a first example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential pressure-based modality. The plurality ofdifferent haptic indicators refers to the first plurality of differenthaptic indicators in the first touch-discernible output layout or thesecond plurality of different haptic indicators in the secondtouch-discernible output layout. The plurality of different hapticindicators may be generated as multi-level pressure or different amountof pressure on the haptic feedback interface 112 by the haptic feedbackgenerator 222. For example, a first object of a plurality of objects(e.g., the first plurality of objects or the second plurality ofobjects) in the 3D real-world area may be discernible by generating ahaptic signal through one or more haptic elements of the plurality ofhaptic elements 218 as a first amount of pressure. This first amount ofpressure may be felt by the user 110 when the user 110 touches aspecific portion, for example, a first portion of the haptic feedbackinterface 112. Similarly, for each position of different objects of theplurality of objects, a different amount of pressure may be generated onthe haptic feedback interface 112. Thus, the user 110 may feel differentamount of pressure at different points (or portions) on the hapticfeedback interface 112. The different amount of pressure enables theuser 110 (by touch on the haptic feedback interface 112) to non-visuallydiscern the relative positioning of the plurality of objects of the 3Dreal world area. The different amount of pressure in the generated firsttouch-discernible output layout or the second touch-discernible outputlayout corresponds to the plurality of different haptic indicatorsgenerated as multi-level pressure.

In a second example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential temperature-based modality. In accordancewith an embodiment, the plurality of different haptic indicators may begenerated as different temperatures, for example, different combinationof hot and cold temperatures, on the haptic feedback interface 112 bythe haptic feedback generator 222. For each position of differentobjects of the plurality of objects, a different temperature level maybe generated on the haptic feedback interface 112 through one or morehaptic elements of the plurality of haptic elements 218. The differentlevel of temperature may enable the user 110 (by touch on the generatedfirst touch-discernible output layout or the second touch-discernibleoutput layout on the haptic feedback interface 112) to non-visuallydiscern the relative positioning of the plurality of objects includingthe user 110 in the 3D real world area within the first proximity rangeor the second proximity range.

In a third example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential electric pulse-based modality. In thiscase, the plurality of different haptic indicators may be generated asdifferent level of electric-pulses on the haptic feedback interface 112by the haptic feedback generator 222. For each position of differentobjects of the plurality of objects, a different level of electric-pulsemay be generated on the haptic feedback interface 112 through a hapticelement of the plurality of haptic elements 218. The different level ofelectric-pulses may enable the user 110 (by touch on the generated firsttouch-discernible output layout or the second touch-discernible outputlayout on the haptic feedback interface 112) to non-visually discern therelative positioning of the plurality of objects of the 3D real worldarea. The different amount of electric-pulses in each of the generatedfirst touch-discernible output layout or the second touch-discernibleoutput may correspond to the plurality of different haptic indicatorsgenerated as different level of electric-pulses. Further, when an objectof the plurality of objects moves in the 3D real-world area, anelectric-pulse (i.e., a haptic indicator) may also be felt on the hapticfeedback interface 122 to be moving as a continuous line from one pointof the haptic feedback interface 122 to another point to represent themovement and a direction of movement of the object of the plurality ofobjects in the 3D real-world area. The generation of electric-pulse(i.e., a touch-discernible cue) along a certain path on the hapticfeedback interface 122 may be synchronized to the actual movement of theobject in the 3D real-world area. This allows the user 110 to understandthe path of movement of the object via the haptic feedback interface112. In accordance with an embodiment, the synchronization of thegeneration of electric-pulse (i.e., a touch-discernible cue) along acertain path on the haptic feedback interface 122 may be controlledbased on the determined spatial scaling factor.

In a fourth example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential raised shape pattern-based modality. Inthis case, the plurality of different haptic indicators may be generatedas a plurality of protrusions of different shapes and sizes that areextended from the surface of the haptic feedback interface 112. Theplurality of protrusions of different shapes are shown, for example, inFIG. 4B, as the first plurality of different haptic indicators 416 a to416 e. Each protrusion may be a raised shape-pattern or a bulge thatsticks out from at least one or a group of haptic elements of theplurality of haptic elements 218 of the haptic feedback interface 112.The plurality of protrusions represents the plurality of objects of the3D real-world area within the first proximity range or the secondproximity range. One shape may be assigned to one identified object-typeof the plurality of objects of the 3D real-world area within the firstproximity range to enable the user 110 to discern the object-type whenthe user 110 touches a protrusion of a defined shape. For example, anoval shape protrusion may denote a particular object-type, for example,a car. Thus, when the user 110 touches the oval shape protrusion, theuser 110 may readily identify the protrusion to be a car. Thus, similarto the sighted people who use information about the features on thesurface of an object, like color, shading, or overall size, and shape,to recognize an object, the people who have lost the sense of sight mayalso have the capability to identify an object based on a touch on theprotrusion of a defined shape, where an association of a particularshape with a particular object-type is learned by brain.

In accordance with an embodiment, the plurality of protrusions generatedon the haptic feedback interface 112 enables the user 110 to discern notonly the object-type but also a relative positioning of the plurality ofobjects and movement of one or more of the plurality of objects, fromthe perspective of the user 110. The haptic feedback generator 222 maybe configured to control the extending and the retracting of theplurality of protrusions by use of the plurality of haptic elements 218.

In accordance with an embodiment, the haptic feedback generator 222 maybe configured to control grouping of the plurality of haptic elements218 during extension to represent a particular shape and/or a particularsize for a protrusion. In accordance with an embodiment, the pluralityof protrusions may be generated by application of different temperatureson different surface area of the haptic feedback interface 112.Notwithstanding, the plurality of protrusions may be generated byvarious methods, such as by electro-chemical process, electro-mechanicalprocess, without limiting the scope of the disclosure. In accordancewith an embodiment, the plurality of different haptic indicators may begenerated as different level of electric-pulses or a different amount ofpressure, such as pain points (or pricking points) that may representthe positioning or movement of the plurality of objects of the 3D realworld area in the generated first touch-discernible output layout or thesecond touch-discernible output layout.

In case of the assistive device 102 is a wearable device, as shown inFIG. 3 , similar haptic indicators (e.g., different amount of pressure,different level of electric-pulses, different temperatures (such as holdand cold), different shape patterns, static or deformable protrusions,movement of haptic indicators), may be felt based on the contact of theskin of the user 110 with the haptic feedback interface 112 that may bewrapped on a body part, such as waist, or arm, as a wearable band. Themovement of a haptic indicator, for example, a particular electric-pulserunning from one point to another point of the haptic feedback interface112, may further indicate a movement of an object of the plurality ofobjects in the 3D real-world area in the first proximity range or thesecond proximity range.

In certain scenarios, a user of the assistive device 102 may not be ableto use all the five fingers of a hand while touching the haptic feedbackinterface 112. This may be due to one or more missing fingers,restricted movement because of injury in one or more fingers, anailment, some bone fracture, or pain. In such cases, the haptic feedbackcontroller 220 may be configured to automatically detect suchimpairments or restricted movement of the five fingers of the hand whenthe hand is placed on the haptic feedback interface 112. In someembodiment, the sensor data from the image-capture device (that may beworn by the user 110) of the plurality of different types of sensors104, may be used to detect such impairments or restricted movement ofthe five fingers. The haptic feedback controller 220 may be configuredto generate a touch-discernible haptic output layout (e.g., the firsttouch-discernible haptic output layout and/or the secondtouch-discernible haptic output layout) on the haptic feedback interface112 in accordance with the detected impairment. For example, the area onwhich the entire touch-discernible haptic output layout may be reducedor modified to suit the detected impairment. The automatic detection ofthe impairments may be done when the assistive device 102 is set inauto-mode using a mode control button (not shown). In some embodiments,the user 110 may switch to a manual mode, where the user 110 may provideinput via the haptic feedback interface 112 to indicate a specificimpairment and configure the generation of the touch-discernible hapticoutput layout based on the provided input that indicates a particularimpairment. In some embodiments, the functions of the control buttons,the haptic feedback interface 112, and the assistive device 102 may beconfigurable by the user 110 based on user inputs in a configurationmode. The configuration mode may be switched “ON” using a configurebutton (not shown) provided in the assistive device 102.

FIG. 2B illustrates exemplary protrusions on a haptic feedback interfaceof the assistive device of FIG. 2A for providing non-visual assistanceto a user, in accordance with an embodiment of the disclosure. Withreference to FIG. 2B, there is shown a surface portion of the hapticfeedback interface 112 with protrusions 230A to 230C and 232 atdifferent time instants 234A to 234C.

At time instant 234A, the protrusion 230A may be generated on thesurface portion of the haptic feedback interface 112 by the hapticfeedback generator 222. The protrusion 230A may discern the targetmoving object 114. At time instant 234B, the protrusion 230A may changeor deform to the protrusion 230B having a different size (for example, areduced size or an increased size) as compared to the protrusion 230A.The shape of the protrusion 230A and the protrusion 230B may be same. Atnext time instant, such as the time instant 234C, the protrusion 230Bmay further change to the protrusion 230C with a different size, orreturn to its original size, such as the protrusion 230A. Differentsizes of the protrusions 230A, 230B, and 230C indicate varying distancebetween the target moving object 114 and the user 110 at the timeinstances 234A, 234B, and 234C. Based on a touch on the constantlydeforming protrusion (such as the protrusion 230A), the user 110 maydiscern the relative position of the target moving object 114 from theuser 110 in the generated haptic touch-discernible output.

In accordance with an embodiment, the plurality of different hapticindicators may be generated as a plurality of protrusions of differentshapes that are extended from the surface of the haptic feedbackinterface 112. For example, a round shape is indicative of human being,an oval shape may be indicative of vehicles, the square shape isindicative of buildings, the triangle shape is indicative of animal, theraised tapering lines may be indicative of a street. Different shapesgenerated by the haptic feedback generator 222, may not be limited tothe oval, round, square, triangle, and other shapes, for example, anypolygonal shapes may be generated based on user-preference. Inaccordance with an embodiment, the shape of a protrusion may becustomized by users of the assistive device 102 in accordance with theirneeds or preferences. For example, a voice command may be provided bythe user 110, for example, “generate a star-shaped pattern to representa building”. At least one of plurality of microphones 214 may capturethe voice command. The second circuitry 210 may be configured tointerpret the voice command and instruct the haptic feedback controller220 to generate a star-shaped protrusion 232 based on the interpretedvoice command. The haptic feedback controller 220 may be configured togenerate the protrusion 232, which may be in a customized shape, such asthe star-shaped pattern. In some embodiments, the customization of shapepatterns may be done via the haptic feedback interface 112 using one ormore control buttons (not shown).

FIG. 3 illustrates an exemplary implementation of the exemplaryassistive device of FIG. 2A as a wearable assistive device for providingnon-visual assistance to a user, in accordance with an embodiment of thedisclosure. With reference to FIG. 3 , there is shown the assistivedevice 102 worn by the user 110 as a wearable assistive device, which isdescribed in conjunction with elements from FIGS. 1 and 2A. Theassistive device 102 includes a wearable pad 302, a plurality of hapticmobility signal generators (HMSG), such as a first HMSG 304 a, a secondHMSG 304 b, a third HMSG 304 c, and a fourth HMSG 304 d. There is alsoshown the haptic feedback interface 112 comprising the plurality ofhaptic elements 218. The wearable pad 302 may correspond to the one ormore wearable pads 226.

The plurality of HMSGs refers to customized sensors that are configuredto generate haptic signals, such as a vibration, a small-localized pain,or a poke, that be sensed by human body. The first HMSG 304 a may beconfigured to generate a first haptic mobility signal to indicate theuser 110 to move ahead. The second HMSG 304 b may be configured togenerate a second haptic mobility signal to indicate the user 110 tostop or perform an about-turn. The third HMSG 304 c may be configured togenerate a third haptic mobility signal to indicate the user 110 to turnleft. Lastly, the fourth HMSG 304 d may be configured to generate afourth haptic mobility signal to indicate the user 110 to turn right. Inaccordance with an embodiment, the haptic feedback controller 220 may beconfigured to control output of one or more haptic mobility signals viathe plurality of HMSGs to provide navigational assistance, for example,turn left, turn right, stop here, start moving ahead, and the like, incombination with the generated touch-discernible output layouts in boththe indoor and the outdoor areas. In some embodiments, one hapticmobility signal may indicate to move one step in that direction. In someembodiments, one haptic mobility signal may indicate to continue movingin a particular direction until a next haptic mobility signal isgenerated. The output of different haptic mobility signals via theplurality of HMSGs may be controlled to provide navigational assistancein combination with the generated touch-discernible output layouts(e.g., the first touch-discernible output layout and/or the secondtouch-discernible output layout).

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to output an audio feedback by the one or more audiooutput devices 224 provided in the assistive device 102 and/or the oneor more haptic mobility signals by the plurality of HMSGs in combinationwith the first touch-discernible output layout or the secondtouch-discernible output layout. The haptic feedback controller 220 mayoutput the audio feedback and/or the one or more haptic mobility signalsin combination with the first touch-discernible output layout or thesecond touch-discernible output layout to provide navigationalassistance to the user 110 from a current position of the user 110towards the target moving object 114. Such navigational assistance fromthe assistive device 102 may enable the user 110 to follow the targetmoving object 114. In other words, the audio feedback and/or the one ormore haptic mobility signals in combination with the firsttouch-discernible output layout or the second touch-discernible outputlayout may cause the user 110 to follow a path that leads the user 110towards the target moving object 114.

FIGS. 4A and 4B illustrate exemplary scenario diagrams forimplementation of the assistive device and method for providingnon-visual assistance to a user for tracking a movable object, inaccordance with an embodiment of the disclosure. With reference to FIG.4A, there is a shown a first exemplary scenario 400A, which is describedin conjunction with elements from FIGS. 1, 2A, and 3 . The firstexemplary scenario 400A shows the user 110 with a wearable assistivedevice, such as the assistive device 102, present in a 3D real-worldarea. There is also shown a first proximity range 402 and a secondproximity range 404 of the assistive device 102.

In accordance with the first exemplary scenario 400A, the user 110 maybe a person with loss or impaired sight. The 3D-real world areasurrounding the user 110 within the first proximity range 402 includes afirst plurality of objects. The first plurality of objects may includeboth moving objects (e.g., the user 110, the target moving object 114,and a car 406), and stationary objects (e.g., a first building 408 and astreet 409), as shown. The 3D-real world area surrounding the user 110within the first proximity range 402 may include many other objects,such as trees, streetlights, and the like, which are not shown for thesake of brevity. Similarly, the 3D-real world area surrounding the user110 within the second proximity range 404 includes a second plurality ofobjects. The second plurality of objects may include both moving objectsand stationary objects (e.g., a second building 410, a third building412, and the street 409), as shown. The 3D-real world area surroundingthe user 110 within the first proximity range 402 may include many otherobjects, such as trees, streetlights, and the like, which are not shownfor the sake of brevity.

Since the target moving object 114 and the car 406 are not stationary,their position continues to change with time. For example, as shown, ata time instance T4, the target moving object 114 having thecommunication device 116 and the car 406 are within the first proximityrange 402. At another time instance T5 after the time instance T4, thecar 406 has moved to the second proximity range 404 and the targetmoving object 114 is still within the first proximity range 402. Atanother time instance T6 after the time instance T5, the car 406 seemsto have moved out of the second proximity range 404 and the targetmoving object 114 has moved from the first proximity range 402 to thesecond proximity range 404. At another time instance T7 after the timeinstance T6, the target moving object 114 has moved back to the firstproximity range 402 from the second proximity range 404.

In accordance with the first exemplary scenario 400A, the user 110 maybe wearing the assistive device 102 (for example, as shown in FIG. 3 ).The user 110 may press a power “ON” button or a start button to initiatereceipt of sensor data from the plurality of different types of sensors104. For example, an image-capture device may be worn as a headset orplaced at a suitable position on the body of the user 110 to capture a360 view of the 3D real-world area that surrounds the user 110 withinthe first proximity range 402, for example, “X” meters, where “X” refersto a distance in natural numbers. In this case, the first proximityrange 402 may be 100 meters. A proximity range setter (not shown) may beprovided in the assistive device 102, which may be used to set thedesired first proximity range 402 by the user 110. In some embodiments,the first proximity range 402 may be a user-specified default range. Insome embodiments, the first proximity range 402 may correspond to equal“X” meters range from the center that corresponds to the position of theuser 110. In some embodiments, the first proximity range 402 maycorrespond to unequal “X” meters range from the position of the user110, for example, more area may be covered in front, left, or right ofthe user 110 based on a direction of movement of the user 110 ascompared to the rear area of the user 110.

In accordance with an embodiment, the first circuitry 208 may beconfigured to receive sensor data of the 3D real-world area within thefirst proximity range 402 of the assistive device 102. The sensor datamay include the captured 360-degree view of the 3D real-world area thatsurrounds the user 110 within the first proximity range 402 and RFsensor data that provide an estimation of distances and motion of eachthe first plurality of objects from the position of the user 110. Thesensor data may also include sensed data from the IR sensor of theplurality of different types of sensors 104. The sensed data from the IRsensor may be used to distinguish between living and non-living objects.The sensor data of the 3D real-world area within the first proximityrange 402 may be received from the plurality of different types ofsensors 104. The plurality of different types of sensors 104 may includewearable sensors that may be worn by the user 110, sensors that may beintegrated with the assistive device 102, such as sensors of the sensorcluster unit 216, or sensors provided in other personal devices of theuser 110. The sensor data of the 3D real-world area received in realtime or near-real time may be used to collect information of the 3Dreal-world area within the first proximity range 402 of the user 110.The second circuitry 210 may be configured to generate the modified 3Ddigital model of the 3D real-world area, based on the received sensordata that is transformed in the common format.

With reference to FIG. 4B, there is shown a second exemplary scenario400B that depicts a first touch-discernible output layout 414 generatedon the haptic feedback interface 112 at the time instances T4, T5, andT7. The first touch-discernible output layout 414 generated at the timeinstance T4 includes a first plurality of different haptic indicators416 a to 416 e that represents the first plurality of objects in the 3Dreal-world area that are present within the first proximity range 402 ofthe assistive device 102 at the time instance T4. The firsttouch-discernible output layout 414 generated at the time instance T5includes the first plurality of different haptic indicators 416 a, 416b, 416 d, and 416 e that represents the first plurality of objects inthe 3D real-world area that are present within the first proximity range402 of the assistive device 102 at the time instance T5. The firsttouch-discernible output layout 414 generated at the time instance T7includes the first plurality of different haptic indicators 416 a, 416b, 416 d, and 416 e that represents the first plurality of objects inthe 3D real-world area that are present within the first proximity range402 of the assistive device 102 at the time instance T7.

The second exemplary scenario 400B further depicts a secondtouch-discernible output layout 418 generated on the haptic feedbackinterface 112 at the time instance T6. The second touch-discernibleoutput layout 418 generated at the time instance T6 includes a secondplurality of different haptic indicators 416 a, 416 d, 416 e, 416 f, and416 g that represents the second plurality of objects in the 3Dreal-world area that are present within the second proximity range 404of the assistive device 102 at the time instance T6.

In operation, the haptic feedback controller 220 may be configured togenerate the first touch-discernible output layout 414 on the hapticfeedback interface 112 using the plurality of haptic elements 218 andthe haptic feedback generator 222. The first touch-discernible outputlayout 414 may be generated using the selected first touch-discerniblemodality, for example, raised shape-pattern based modality, from theplurality of touch-discernible modalities. The first touch-discernibleoutput layout 414 may correspond to a first reproduction of the 3Dreal-world area within the first proximity range 402 of the assistivedevice 102. The first touch-discernible output layout 414 may include afirst set of different haptic indicators (such as the haptic indicators416 a, 416 c, and 416 d) to discern movement of the first set of movingobjects (such as the user 110, the car 406, and the target moving object114, respectively) present within the first proximity range 402. Thefirst touch-discernible output layout 414 may further include additionalhaptic indicators (such as the haptic indicators 416 b and 416 e) todiscern stationary objects (such as the first building 408 and thestreet 409, respectively) present within the first proximity range 402.

Similar to the sighted people (i.e., people who have not lost sense ofsight) who use information about the features on the surface of anobject, like colour, shading, or overall size, and shape, to recognizean object, the people who have lost the sense of sight may also identifyan object-type and object position based on a touch on the protrusion ofa defined shape on the generated first touch-discernible output layout414, where an association of a particular shape with a particularobject-type is learned by the brain. For example, in this case a squareshape is indicative of buildings, a cross-shape is indicative of otherhuman beings, a partial circle is indicative of vehicles, and the raisedtapering lines may be indicative of a street. Notwithstanding, differentshapes generated by the haptic feedback generator 222, may not belimited to the partial circles, square, or cross, and that other shapes,for example, any polygonal shapes (e.g., the protrusion 232A (FIG. 2B))may be generated. In accordance with an embodiment, the shape of aprotrusion may be customized by users of the assistive device 102 inaccordance with their needs or preferences, as described for example, inFIG. 2B.

The first touch-discernible output layout 414 may also include a uniquehaptic indicator, such as the haptic indicator 416 a, which correspondsto a current position of the user 110 of the assistive device 102 in the3D real-world area. It may be advantageous to include the unique hapticindicator that is representative of the user 110 as it enables the user110 to non-visually discern the 3D real-world area from the perspectiveof the user 110 in the first proximity range 402 by a touch on theunique haptic indicator (such as the haptic indicator 416 a) followed bytouch on other haptic indicators 416 b to 416 e generated on the hapticfeedback interface 112. In one example, based on the unique hapticindicator, such as the haptic indicator 416 a, the user 110 maynon-visually track, non-visually discern the movement, and non-visuallynavigate (if needed) to another user (such as target moving object 114)effectively, such as his son, daughter, or a loved one, playing in anoutdoor area (e.g., a park) or in an indoor area (e.g., a building)using the assistive device 102.

The movement of the first set of different haptic indicators, such asthe haptic indicators 416 a, 416 c, and 416 d, may be updatedcontinually or periodically in the first touch-discernible output layout414 based on the tracked movement of the first set of moving objects,such as the user 110, the car 406, and the target moving object 114present within the first proximity range 402. Thereafter, the hapticfeedback controller 220 may be configured to receive a first user inputat the assistive device 102 to select one of the first set of differenthaptic indicators 416 a, 416 c, and 416 d as an object of interest formovement tracking. For example, the haptic feedback controller 220 mayreceive the first user input as the selection of the haptic indicator416 d discerning the movement of the target moving object 114.

In accordance with an embodiment, the user 110 may press the protrusiongenerated on the haptic feedback interface 112 as the haptic indicator416 d. Based on the amount of pressure exerted by the user 110 whiletouching the haptic indicator 416 d on the haptic feedback interface112, the press may be considered a haptic input by the haptic feedbackcontroller 220. In cases where the amount of pressure exerted by theuser 110 on a particular point or a protrusion on the haptic feedbackinterface 112 is greater than a threshold pressure value, the press ofthe protrusion (or a bulge) may be considered a haptic input for thatparticular object of the 3D real-world area that is indicated by thepressed protrusion. A corresponding action (for example, tracking themovement) related to the pressed protrusion may be executed by thehaptic feedback controller 220 in association with the second circuitry210. In accordance with an embodiment, different actions may be relatedto different amounts of pressures applied by the user 110 on theprotrusion. For example, a first amount of pressure may indicate amovement tracking input to track a movement of another user (such as thetarget moving object 114) effectively, such as his son, daughter, or aloved one, playing in an outdoor area (e.g., a park) or in an indoorarea (e.g., a building), while a second amount of pressure may indicatea user input for requiring additional information about the other user,such as a current location, an actual distance between the user 110 andthe other user, or the like.

Although the first exemplary scenario 400A shows the target movingobject 114 as another user, the scope of the disclosure is not limitedto it. In another example, the target moving object 114 may be his pet(for example, a cat, a dog, or the like) playing in an outdoor area(e.g., a garden) or in an outdoor area (e.g., a building). In yetanother example, the target moving object 114 may be an inanimate movingobject (such as a moving toy).

At time instance T6, the target moving object 114 may move from thefirst proximity range 402 to the second proximity range 404. At thispoint, the haptic feedback controller 220 may be configured to execute atransition from the first touch-discernible output layout 414 to thesecond touch-discernible output layout 418. Although at the timeinstance T5 the car 406 had moved from the first proximity range 402 tothe second proximity range 404, the haptic feedback controller 220 maynot execute the transition from the first touch-discernible outputlayout 414 to the second touch-discernible output layout 418 as thetarget moving object 114 is within the first proximity range 402 and thecar 406 is not an object of interest to the user 110.

To execute the transition to the second touch-discernible output layout418, the second circuitry 210 may be configured to calibrate the one ormore of the plurality of different types of sensors 104 to receivesensor data in accordance with the second proximity range 404. Thesecond circuitry 210 may be configured to determine the speed and thedirection of travel of each of a second set of moving objects, such asthe user 110 and the target moving object 114 of a second plurality ofobjects (that also includes the street 409, the second building 410, andthe third building 412, and excludes the first building 408) within thesecond proximity range 404. The second circuitry 210 may be configuredto monitor/track the relative position of each of the second pluralityof objects with respect to the position of the user 110 of the assistivedevice 102. The relative position of each of the second plurality ofobjects may be monitored based on the sensor data of the secondproximity range 404 received in real time or near-real time from theplurality of different types of sensors 104. A sighted person may easilyvisualize their surroundings to understand how far or near other objectsare from the sighted person. However, for a person who has lost orimpaired sight, it is very difficult to judge how far or near otherobjects are from themself. Thus, by tracking the relative position ofeach of the second plurality of objects with respect to the position ofthe user 110, the assistive device 102 helps the user 110 to understandhow far or near other objects are from themself.

The second touch-discernible output layout 418 may correspond to asecond reproduction of the 3D real-world area generated based on themovement of the target moving object from the first proximity range 402to the second proximity range 404. The second plurality of differenthaptic indicators 416 a, 416 d, 416 e, 416 f, and 416 g may be spatiallyarranged on the haptic feedback interface 112 such that a spatialarrangement of the second plurality of objects in the 3D real-world area(such as the user 110, the target moving object 114, the street 409, thesecond building 410, and the third building 412 respectively) within thesecond proximity range 404 may be discernible by tactioception based ona user touch on the second touch-discernible output layout 418. Thesecond plurality of different haptic indicators may include a second setof different haptic indicators 416 a and 416 d to discern movement ofthe second set of moving objects (such as the user 110 and the targetmoving object 114). The second set of moving objects may include one ofmore objects from the first set of moving objects in the first proximityrange 402.

The second circuitry 210 may be further configured to estimate a spatialscaling factor for each of moving object within the first proximityrange 402 and/or the second proximity range 404 based on the distance ofeach moving object from the user 110 in the 3D real-world. The hapticfeedback controller 220 may be configured to control a rate-of-change ofmovement and a size of each of the first set of different hapticindicators (such as the haptic indicators 416 a, 416 c, and 416 d) oreach of the second set of different haptic indicators (e.g., the hapticindicators 416 and 416 d) on the haptic feedback interface 112. Therate-of-change of movement and the size may be controlled based on thecorresponding spatial scaling factor. The determined spatial scalingfactor indicates a change of distance between the user 110 and a movingobject to transform and reflect the change in haptic domain. Forexample, the size of the haptic indicator 416 d continuously changes inthe first touch-discernible output layout 414 and the secondtouch-discernible output layout 418 as the distance between the user 110and the target moving object 114 continues to change. For example, thesize of the haptic indicator 416 d in the first touch-discernible outputlayout 414 generated at the time instance T5 is smaller than a size ofthe haptic indicator 416 d in the first touch-discernible output layout414 generated at the time instance T4, as the target moving object 114has moved farther away from the user 110 at the time instance T5.Similarly, the size of the haptic indicator 416 d in the secondtouch-discernible output layout 418 generated at the time instance T6 issmaller than a size of the haptic indicator 416 d in the firsttouch-discernible output layout 414 generated at the time instance T7,as the target moving object 114 has moved nearer to the user 110 at thetime instance T7.

In accordance with an embodiment, the haptic feedback generator 222 maybe configured to update the second touch-discernible output layout 418continuously or periodically to reflect change in positioning of themoving objects within the second proximity range 404.

At time instance T7, the target moving object 114 may move back to thefirst proximity range 402 from the second proximity range 404. At thispoint, the haptic feedback controller 220 may be configured to executeanother transition from the second touch-discernible output layout 418to the first touch-discernible output layout 414. To execute thetransition to the first touch-discernible output layout 414, the secondcircuitry 210 may be configured to re-calibrate the one or more of theplurality of different types of sensors 104 to receive sensor data inaccordance with the first proximity range 402.

A mobility control signal may be sent by the assistive device 102 to thecommunication device 116 through the second communication network 108Bto control the movement (for example, stop movement, reduce, or increasespeed, change direction, or the like) of the target moving object 114.Thus, by use of the assistive device 102, the user 110 is able tonon-visually track, non-visually discern the movement, and non-visuallynavigate (if needed) to the target moving object 114. For example, thetarget moving object 114 may be the child of the user 110, who isplaying in a park. The user 110 may want to keep a watch (i.e.,non-visually discern) on the activities of the child, while the child isplaying. In such example, by use of the assistive device 102, the user110 may be able keep a constant watch (i.e., non-visually discern) onthe movement and activities of the child. Further, by the use of theassistive device 102, the user 110 may be able to instruct the child,possessing the communication device 116, to move slowly or stop moving.Furthermore, the assistive device 102 may provide navigation assistancein the form of audio feedback and/or the one or more haptic mobilitysignals to help the user 110 follow a path to reach his child.

In another example, the target moving object 114 may be a toy car ofuser's child which the child is riding. In such example, by use of theassistive device 102, the user 110 may be able keep a constant watch onthe movement (for example, a current speed) of the toy car. Further, bythe use of the assistive device 102, the user 110 may be able toremotely control the movement of the toy car, for example, the toy carmay be coupled to the communication device 116 that receives thatmobility control signal from the assistive device 102 for movementcontrol.

In yet another example, the assistive device 102 may be used by the user110 to non-visually experience a sport, for example, a soccer match. Inthis example, the target moving object 114 as selected by the user 110may be a game equipment (e.g., a ball) being used in the game match.Thus, by use of the assistive device 102, the user 110 is able tonon-visually track and non-visually discern the movement of the ball.The assistive device 102 may execute transition from the firsttouch-discernible output layout to the second touch-discernible outputlayout and from the second touch-discernible output layout to the firsttouch-discernible output layout as the ball continues to move during thegame match, thus enabling the user 110 to non-visually experience thesport.

In FIG. 4B, the plurality of different haptic indicators example, areshown to be generated as a plurality of different protrusions ofdifferent shapes. However, the plurality of different haptic indicatorsmay also be generated as different level of electric-pulses, differentamount of pressure or pain, different level of temperature, or theircombination, on the haptic feedback interface 112 by the haptic feedbackgenerator 222, as described in FIG. 2A.

In conventional devices, the input section to receive a haptic input isdifferent from the output section (in a conventional haptic userinterface) where the Braille output or other tactile forms of output aregenerated. Typically, the input section to receive haptic input is a6-keys or 8-keys Braille input. A separate section to receive input andprovide output, may be considered a rudimentary form of HMI, where agenerated haptic output may not be capable of receiving a furtherfeedback on a particular touch-discernible haptic indicator. Incontrast, the same tactile surface area of the haptic feedback interface112 of the assistive device 102 acts both as the haptic input receiverand haptic output generator, where the user 110 may press a protrusion(or a bulge) generated on the haptic feedback interface 112 to providethe haptic input related to a specific object in the vicinity of theassistive device 102. Based on the amount of pressure exerted by theuser 110 while touching the protrusion on the haptic feedback interface112, the press may be considered a haptic input by the haptic feedbackcontroller 220. Since the same tactile surface area of the hapticfeedback interface 112 acts both as the haptic input receiver and hapticoutput generator, a size of the assistive device 102 is compact (forexample, smaller) in comparison to the conventional devices where theinput section to receive a haptic input is different from the outputsection. Compact size of the assistive device 102 enables easy handlingby the user 110 who has lost or impaired sight.

FIGS. 5A, 5B, 5C, and 5D, collectively, depict a flow chart 500 thatillustrates a method for providing non-visual assistance to a user toperceive the surrounding world, in accordance with an embodiment of thedisclosure. FIGS. 5A, 5B, 5C, and 5D are described in conjunction withelements from the FIGS. 1, 2A, 2B, 3, 4A, and 4B. As shown in FIG. 5A,the method of the flow chart 500 starts at 502 and proceeds to 504.

At 504, a current location of the assistive device 102 may be detected.The second circuitry 210 may be configured to detect the currentlocation of the assistive device 102 using the location sensor. Thelocation sensor may be provided in the sensor cluster unit 216 of theassistive device 102 or may refer to one of the plurality of differenttypes of sensors 104. At 506, it may be determined whether a firsttemplate map of a 3D real-world area for the detected current locationof the assistive device 102 is available. The availability of the firsttemplate map of a 3D real-world area may be determined at the server 106or the memory 212. In cases where the first template map is available,the control passes to 508, else to 510.

At 508, a first template map of a 3D real-world area within a firstproximity range of the assistive device 102 may be acquired. The firstcircuitry 208 may be configured to acquire the first template map of the3D real-world area within the first proximity range of the assistivedevice 102. In some embodiments, the first template map may be acquiredfrom the server 106 based on the current location of the assistivedevice 102. As the user 110 may be equipped with the assistive device102, the location of the assistive device 102 may be same as that of theuser 110. In some embodiments, the memory 212 may store 2D/3D maps ofgeographical regions of the earth surface, such as street views foroutdoor locations. In such embodiments, the first template map may beretrieved from the memory 212.

At 510, sensor data of the 3D real-world area within the first proximityrange of the assistive device 102 may be received. The first circuitry208 may be configured to receive the sensor data of the 3D real-worldarea within the first proximity range of the assistive device 102 fromthe plurality of different types of sensors 104 that are communicativelycoupled to the assistive device 102. In some embodiments, the sensordata may also be received from the sensor cluster unit 216. In someembodiments, the first template map of a 3D real-world area may not beacquired, for example, in case of indoor locations or for regions wherethe first template map may not be available. In such a case, the sensordata of the 3D real-world area received in real time or near-real timemay be used to collect information of the 3D real-world area within thefirst proximity range of the assistive device 102.

At 512, an object-type of each of a first plurality of objects presentwithin the first proximity range of the assistive device 102 may beidentified, based on the received sensor data. The second circuitry 210may be further configured to identify the object-type of each of thefirst plurality of objects present within the first proximity range ofthe assistive device 102 based on the received sensor data. Examples ofthe object-type may include, but are not limited to a human being, ananimal, a vehicle-type (such as a car, a truck, a bicycle, atwo-wheeler, a four-wheeler, and the like), a living object, anon-living object, a moving object, a stationary object, a street, anobstacle, a hazard, a door, stairs, and other physical objects found inindoor or outdoor area of the 3D real-world area.

At 514, a relative position of each of the first plurality of objectswith respect to the position of the user 110 of the assistive device 102may be determined. The second circuitry 210 may be configured todetermine the relative position of each of the first plurality ofobjects with respect to the position of the user 110 of the assistivedevice 102. The relative position of each of the first plurality ofobjects may be determined based on the sensor data received in real timeor near-real time from the plurality of different types of sensors 104.

At 516, the first template map may be updated with at least positionalinformation of the first plurality of objects, based on the receivedsensor data of the 3D real-world area within the first proximity rangeof the assistive device 102. The second circuitry 210 may be configuredto update the first template map in real time or near-real time based onthe sensor data of the 3D real-world area.

At 518, a speed and a direction of travel of each of a first set ofmoving objects of the first plurality of different objects within thefirst proximity range may be determined. The second circuitry 210 may beconfigured to determine the speed and the direction of travel of each ofthe first set of moving objects of the first plurality of objects withinthe first proximity range.

At 520, a first touch-discernible modality from a plurality oftouch-discernible modalities may be selected to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112. Theselection of the first touch-discernible modality may be based onlearned user interaction information and a current weather condition inthe 3D real-world area. The learned user interaction information may bedetermined based on a historical analysis of usage pattern data of thehaptic feedback interface 112 by the learning engine provided in thememory 212. The plurality of touch-discernible modalities includes adifferential pressure-based modality, a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality. In some embodiments, a combinationof different touch-discernible modalities may be selected based on thelearned user interaction information, the current weather condition inthe 3D real-world area, and a specified user-setting.

At 522, a first touch-discernible output layout may be generated on thehaptic feedback interface 112 using the plurality of haptic elements218. The haptic feedback controller 220 may be configured to generatethe first touch-discernible output layout on the haptic feedbackinterface 112 using the plurality of haptic elements 218 and the hapticfeedback generator 222. The first touch-discernible output layout may begenerated using the selected first touch-discernible modality from theplurality of touch-discernible modalities. The first touch-discernibleoutput layout may correspond to a first reproduction of the 3Dreal-world area within the first proximity range of the assistive device102.

At 524, a first set of different haptic indicators that are spatiallyarranged on the haptic feedback interface 112 may be generated todiscern the first set of moving objects of the 3D real-world area withinthe first proximity range. The first set of different haptic indicatorsmay be generated on the haptic feedback interface 112 using theplurality of haptic elements 218. The haptic feedback controller 220 maybe configured to generate at least the first set of different hapticindicators that are spatially arranged on the haptic feedback interface112 to discern the first set of moving objects of the 3D real-world areawithin the first proximity range. The haptic feedback controller 220 maygenerate the first set of different haptic indicators on the hapticfeedback interface 112 using the plurality of haptic elements 218 andthe haptic feedback generator 222. The first touch-discernible outputlayout may include the generated first set of different hapticindicators. The first set of different haptic indicators may bespatially arranged on the haptic feedback interface 112 in a definedregion such that a spatial arrangement of the first set of movingobjects in the 3D real-world area within the first proximity range ofthe assistive device 102 is discernible by tactioception based on a usertouch on the first touch-discernible output layout. The firsttouch-discernible output layout may also include a unique hapticindicator that corresponds to a position of the user 110 of theassistive device 102. The unique haptic indicator may be one of thefirst set of different haptic indicators generated on the hapticfeedback interface 112. The unique haptic indicator may be indicative ofa relative position of the user 110 with respect to each of the firstset of moving objects and other static objects present in the 3Dreal-world area within the first proximity range of the assistive device102.

At 526, a spatial scaling factor may be estimated for each of the firstset of moving objects based on the distance of each of the first set ofmoving objects from the user 110 in the 3D real-world. The secondcircuitry 210 may be configured to estimate the spatial scaling factorbased on the distance of each of the first set of moving objects fromthe user 110 in the 3D real-world.

At 528, a rate-of-change of movement of each of the first set ofdifferent haptic indicators may be controlled on the haptic feedbackinterface 112. The haptic feedback controller 220 may be configured tocontrol the rate-of-change of movement based on the distance of each ofthe first set of moving objects from the user 110 and/or the spatialscaling factor determined for a corresponding moving object of the firstset of moving objects. For example, in cases where a sighted user looksvery far (e.g. beyond “X” meters) in the 3D real-world area, thechanges, such as movement of objects, may appear slow as compared towhen the sighted user looks nearby (i.e. up to “Y” meters). In caseswhere the sighted user looks nearby (e.g., Y=30 meters), the changes,such as movement of objects, appears to be very fast. Thus, in hapticdomain, the first set of different haptic indicators that indicatemoving objects requires to be controlled in accordance with the distanceof each of the first set of moving objects from the user 110 for arealistic discerning of the 3D real-world area.

At 530, a size of each of the first set of different haptic indicatorsmay be differently controlled on the haptic feedback interface 112. Thehaptic feedback controller 220 may be configured to differently controlthe size of each of the first set of different haptic indicators basedon the distance of each of the first set of moving objects from the user110 and/or the spatial scaling factor determined for a correspondingmoving object of the first set of moving objects. For example, in caseswhere a sighted user looks very far (e.g., beyond “X” meters) in the 3Dreal-world area, the size of objects, may appear small as compared towhen the sighted user looks nearby (i.e., up to “Y” meters). In caseswhere the sighted user looks nearby (e.g., Y=30 meters), the size of thesame appears to be larger. Thus, in haptic domain, the size of the firstset of different haptic indicators that indicate moving objects requiresto be controlled in accordance with the distance of each of the firstset of moving objects from the user 110 for a realistic discerning ofthe 3D real-world area.

At 532, a selection of a first haptic indicator of the first set ofdifferent haptic indicators may be received based on a first user inputvia the haptic feedback interface 112. The first haptic indicator maydiscern the movement of the target moving object 114 of the first set ofmoving objects and the selection of the first haptic indicator maycorrespond to a prompt to track the movement of the target moving object114. The haptic feedback controller 220 may be configured to receive theselection of the first haptic indicator based on the first user inputprovided via the haptic feedback interface 112 to track the movement ofthe target moving object 114 discerned by the first haptic indicator.

At 534, the movement of the target moving object 114 may be trackedbased on the sensor data received from one or more of the plurality ofdifferent types of sensor 104. The haptic feedback controller 220 may beconfigured to track the movement of the target moving object 114 basedon the sensor data received in real time or near-real time from one ormore of the plurality of different types of sensor 104.

At 536, it may be determined whether the target moving object 114 hasmoved from the first proximity range to the second proximity range usingthe sensor data of the plurality of different types of sensor 104. Thehaptic feedback controller 220 may be configured to determine whetherthe target moving object 114 has moved from the first proximity range tothe second proximity range. In accordance with an embodiment, the firstproximity range may be greater than the second proximity range. Inaccordance with an embodiment, the first proximity range may be smallerthan the second proximity range. In cases where the target moving object114 is still within the first proximity range, the control passes to536, else to 538.

At 538, one or more of the plurality of different types of sensors 104may be calibrated to receive sensor data in accordance with the secondproximity range. The second circuitry 210 may be configured to calibratethe one or more of the plurality of different types of sensors 104 toreceive sensor data in accordance with the second proximity range.

At 540, a speed and a direction of travel of each of a second set ofmoving objects, including the target moving object 114, within thesecond proximity range may be determined. The second circuitry 210 maybe configured to determine the speed and the direction of travel of eachof the second set of moving objects, including the target moving object114, within the second proximity range.

At 542, a relative position of each of the second set of moving objectswith respect to the position of the user 110 of the assistive device 102may be monitored. The second circuitry 210 may be configured to monitor(or track) the relative position of each of the second set of movingobjects with respect to the position of the user 110 of the assistivedevice 102. The relative position of each of the second set of movingobjects may be monitored based on the sensor data of the secondproximity range received in real time or near-real time from theplurality of different types of sensors 104.

At 544, a transition from the first touch-discernible output layout to asecond touch-discernible output layout may be executed based on themovement of the target moving object 114 from the first proximity rangeto the second proximity range. The haptic feedback controller 220 may beconfigured to execute the transition from the first touch-discernibleoutput layout to the second touch-discernible output layout. The secondtouch-discernible output layout may correspond to a second reproductionof the 3D real-world area based on the transition from the firstproximity range to the second proximity range. In accordance with anembodiment, the second touch-discernible output layout may be a second3D layout that comprises at least a second set of different hapticindicators. The second set of different haptic indicators may bespatially arranged on the haptic feedback interface 112 in the definedregion such that a spatial arrangement of a second set of moving objectsin the 3D real-world area within the second proximity range may bediscernible by tactioception based on a user touch on the secondtouch-discernible output layout. The second set of different hapticindicators may include one or more haptic indicators of the first set ofdifferent haptic indicators and/or one or more new haptic indicators todiscern movement of the second set of moving objects. The second set ofmoving objects may include one of more objects from the first set ofmoving objects and/or new objects detected within the second proximityrange. The second touch-discernible output layout may also include theunique haptic indicator that corresponds to a current position of theuser 110 of the assistive device 102 on the second touch-discernibleoutput layout. The unique haptic indicator of the second set ofdifferent haptic indicators generated on the haptic feedback interface112 may be indicative of a relative (or updated) position of the user110 with respect to each of the second set of moving objects present inthe 3D real-world area within the second proximity range of theassistive device 102.

At 546, a spatial scaling factor for each of the second set of movingobjects may be estimated based on the distance of each of the second setof moving objects from the user 110 in the 3D real-world. The secondcircuitry 210 may be configured to estimate the spatial scaling factorbased on the distance of each of the second set of moving objects fromthe user 110 in the 3D real-world.

At 548, a rate-of-change of movement of each of the second set ofdifferent haptic indicators may be controlled on the haptic feedbackinterface 112. The haptic feedback controller 220 may be configured tocontrol the rate-of-change of movement based on the distance of each ofthe second set of moving objects from the user 110 and/or the spatialscaling factor determined for a corresponding moving object of thesecond set of moving objects.

At 550, a size of each of the second set of different haptic indicatorsmay be controlled on the haptic feedback interface 112. The hapticfeedback controller 220 may be configured to differently control thesize based on the distance of each of the second set of moving objectsfrom the user 110 and/or the spatial scaling factor determined for acorresponding moving object of the second set of moving objects.

At 552, at least one of an audio feedback may be generated by the one ormore audio output devices 224 provided in the assistive device 102 orone or more haptic mobility signals by the plurality of haptic mobilitysignal generators of the assistive device 102 in combination with thefirst touch-discernible output layout or the second touch-discernibleoutput layout to provide navigational assistance from a current positionof the user 110 towards the target moving object 114. The hapticfeedback controller 220 may be further configured to output at least oneof the audio feedback by the one or more audio output devices 224 or theone or more haptic mobility signals in combination with the firsttouch-discernible output layout or the second touch-discernible outputlayout to provide navigational assistance from the current position ofthe user 110 towards the target moving object 114.

At 554, a second user input may be received via the haptic feedbackinterface 112 to control the movement of the target moving object 114.The haptic feedback controller 220 may be configured to receive thesecond user input via the haptic feedback interface 112 to remotelycontrol the movement of the target moving object 114 in the 3Dreal-world.

At 556, a mobility control signal may be transmitted to thecommunication device 116 of the target moving object 114 based on thesecond user input via the haptic feedback interface 112. The firstcircuitry 208 may be configured to generate and transmit the mobilitycontrol signal to the communication device 116 of the target movingobject 114 based on the second user input via the haptic feedbackinterface 112 to remotely control the movement of the target movingobject 114. Control passes to end 558.

In accordance with an exemplary aspect of the disclosure, a system forproviding non-visual assistance to a user (e.g., the user 110) toperceive the surrounding world is disclosed. The system may include theassistive device 102 (FIGS. 1, 2A, and 3 ), which may comprise thehaptic feedback interface 112 (FIG. 1 ) comprising the plurality ofhaptic elements 218 (FIG. 2A). The assistive device 102 may furthercomprise the haptic feedback controller 220 configured to generate afirst touch-discernible output layout on the haptic feedback interface112 using the plurality of haptic elements 218. The firsttouch-discernible output layout may correspond to a first reproductionof a 3D real-world area within a first proximity range of the assistivedevice 102. The haptic feedback controller 220 configured to generate afirst set of different haptic indicators that are spatially arranged onthe haptic feedback interface 112 to discern a first set of movingobjects of the 3D real-world area within the first proximity range suchthat the first touch-discernible output layout includes the first set ofdifferent haptic indicators. The haptic feedback controller 220 may befurther configured to receive a selection of a first haptic indicator ofthe first set of different haptic indicators based on a first user inputvia the haptic feedback interface 112. The first haptic indicatordiscerns the target moving object 114 in the first set of movingobjects. The haptic feedback controller 220 may be further configured toexecute a transition from the first touch-discernible output layout to asecond touch-discernible output layout based on a movement of the targetmoving object 114 from the first proximity range to a second proximityrange of the assistive device 102. The second touch-discernible outputlayout may correspond to a second reproduction of the 3D real-world areawithin the second proximity range of the assistive device 102. Thesecond touch-discernible output layout may include a second set ofdifferent haptic indicators that are spatially arranged on the hapticfeedback interface 112 to discern movement of a second set of movingobjects, including the target moving object 114, of the 3D real-worldarea within the second proximity range. The haptic feedback controller220 may be further configured to control a rate-of-change of movement ofeach haptic indicator of the first set of different haptic indicators orthe second set of different haptic indicators, based on a distance of acorresponding moving object in the 3D real-world from the user 110.

The present disclosure may be realized in hardware, or a combination ofhardware and software. The present disclosure may be realized in acentralized fashion, in at least one computer system, or in adistributed fashion, where different elements may be spread acrossseveral interconnected computer systems or the special-purpose device. Acomputer system or other special-purpose apparatus adapted to carry outthe methods described herein may be suited. The present disclosure maybe realized in hardware that comprises a portion of an integratedcircuit that also performs other functions.

The present disclosure may also be embedded in a computer programproduct, which comprises all the features that enable the implementationof the methods described herein, and which, when loaded in aspecial-purpose machine or computer system, is able to carry out thesemethods. Computer program, in the present context, means any expression,in any language, code or notation, of a set of instructions intended tocause a system with an information processing capability to perform aparticular function either directly, or after either or both of thefollowing: a) conversion to another language, code or notation; b)reproduction in a different material form.

While the present disclosure has been described with reference tocertain embodiments, it will be understood by those skilled in the artthat various changes may be made and equivalents may be substitutedwithout deviation from the scope of the present disclosure. In addition,many modifications may be made to adapt a particular situation ormaterial to the teachings of the present disclosure without deviationfrom its scope. Therefore, it is intended that the present disclosurenot be limited to the particular embodiment disclosed, but that thepresent disclosure will include all embodiments falling within the scopeof the appended claims.

What is claimed is:
 1. An assistive device, comprising: a hapticfeedback interface that comprises a plurality of haptic elements; and ahaptic feedback controller configured to: generate a touch-discernibleoutput layout on the haptic feedback interface using the plurality ofhaptic elements, wherein the touch-discernible output layout correspondsto a reproduction of a three-dimensional (3D) real-world area within aproximity range of the assistive device; generate a set of differenthaptic indicators that are spatially arranged on the haptic feedbackinterface to discern a set of moving objects of the 3D real-world areawithin the proximity range, wherein the touch-discernible output layoutincludes the set of different haptic indicators; receive a user inputvia the haptic feedback interface, wherein the user input comprises anamount of pressure applied on the set of different haptic indicators bya user of the assistive device; execute a first action based on a firstamount of applied pressure; and execute a second action based on asecond amount of applied pressure different from the first amount ofapplied pressure.
 2. The assistive device according to claim 1, whereinthe first action is executed based on the first amount of appliedpressure greater than a first threshold pressure value, and wherein thesecond action is executed based on the second amount of applied pressuregreater than a second threshold pressure value.
 3. The assistive deviceaccording to claim 1, wherein at least one of the first action or thesecond action corresponds to a prompt to track a movement of a targetmoving object in the 3D real-world area.
 4. The assistive deviceaccording to claim 3, wherein, based on the tracked movement of thetarget moving object, the haptic feedback controller is furtherconfigured to output at least one of an audio feedback by one or moreaudio output devices provided in the assistive device or one or morehaptic mobility signals with the touch-discernible output layout toprovide navigational assistance from a current position of the user ofthe assistive device towards the target moving object.
 5. The assistivedevice according to claim 3, wherein the at least one of the firstaction or the second action corresponds to a prompt to requireadditional information about the target moving object.
 6. The assistivedevice according to claim 5, wherein the additional informationcomprises at least one of a current location of the target moving objector a distance between the user and the target moving object.
 7. Theassistive device according to claim 1, wherein the haptic feedbackcontroller is further configured to differently control a rate-of-changeof movement of each of the set of different haptic indicators on thehaptic feedback interface based on a distance of each of the set ofmoving objects present in the 3D real-world from the user of theassistive device.
 8. The assistive device according to claim 7, furthercomprising a circuitry configured to determine a spatial scaling factorfor each of the set of moving objects present in the 3D real-world basedon the distance of each of the set of moving objects from the user ofthe assistive device, wherein the rate-of-change of movement of each ofthe set of different haptic indicators is controlled in accordance withthe spatial scaling factor determined for a corresponding moving objectof the set of moving objects.
 9. The assistive device according to claim1, wherein the haptic feedback controller is further configured todifferently control a size of each of the set of different hapticindicators on the haptic feedback interface based on a distance of eachof the set of moving objects present in the 3D real-world from the user.10. The assistive device according to claim 1, wherein the set ofdifferent haptic indicators are generated by a touch-discerniblemodality that includes at least one of a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality, or a combination of differenttouch-discernible modalities.
 11. An assistive method, comprising: in anassistive device that comprises a haptic feedback controller and ahaptic feedback interface that includes a plurality of haptic elements:generating a touch-discernible output layout on the haptic feedbackinterface using the plurality of haptic elements, wherein thetouch-discernible output layout corresponds to a reproduction of athree-dimensional (3D) real-world area within a proximity range of theassistive device; generating a set of different haptic indicators thatare spatially arranged on the haptic feedback interface to discern a setof moving objects of the 3D real-world area within the proximity range,wherein the touch-discernible output layout includes the set ofdifferent haptic indicators; receiving a user input via the hapticfeedback interface, wherein the user input comprises an amount ofpressure applied on the set of different haptic indicators by a user ofthe assistive device; executing a first action based on a first amountof applied pressure; and executing a second action based on a secondamount of applied pressure different from the first amount of appliedpressure.
 12. The assistive method according to claim 11, wherein thefirst action is executed based on the first amount of applied pressuregreater than a first threshold pressure value, and wherein the secondaction is executed based on the second amount of applied pressuregreater than a second threshold pressure value.
 13. The assistive methodaccording to claim 11, wherein at least one of the first action or thesecond action corresponds to a prompt to track a movement of a targetmoving object in the 3D real-world area.
 14. The assistive methodaccording to claim 13, wherein, based on the tracked movement of thetarget moving object, outputting at least one of: an audio feedback byone or more audio output devices provided in the assistive device or oneor more haptic mobility signals with the touch-discernible output layoutfor providing navigational assistance from a current position of theuser of the assistive device towards the target moving object.
 15. Theassistive method according to claim 13, wherein the at least one of thefirst action or the second action corresponds to a prompt to requireadditional information about the target moving object.
 16. The assistivemethod according to claim 15, wherein the additional informationcomprises at least one of a current location of the target moving objector a distance between the user and the target moving object.
 17. Theassistive method according to claim 11, further comprising differentlycontrolling a rate-of-change of movement of each of the set of differenthaptic indicators on the haptic feedback interface based on a distanceof each of the set of moving objects present in the 3D real-world fromthe user of the assistive device.
 18. The assistive method according toclaim 17, further comprising determining a spatial scaling factor foreach of the set of moving objects present in the 3D real-world based onthe distance of each of the set of moving objects from the user of theassistive device, wherein the rate-of-change of movement of each of theset of different haptic indicators is controlled in accordance with thespatial scaling factor determined for a corresponding moving object ofthe set of moving objects.
 19. The assistive method according to claim11, further comprising differently controlling a size of each of the setof different haptic indicators on the haptic feedback interface based ona distance of each of the set of moving objects present in the 3Dreal-world from the user.
 20. The assistive method according to claim11, wherein the set of different haptic indicators are generated by atouch-discernible modality that includes at least one of a differentialtemperature-based modality, a differential electric pulse-basedmodality, a differential raised shape pattern-based modality, or acombination of different touch-discernible modalities.